METHOD AND APPARATUS FOR FEATURE-BASED STEREO MATCHING
First Claim
1. A method for stereo matching of a reference image and at least one comparative image captured from different points of view using a computer device, comprising:
- collecting the reference image and the at least one comparative image;
extracting feature points from the reference image;
tracking points corresponding to the feature points in the at least one comparative image using an optical flow technique; and
generating a depth map according to correspondence-point tracking results.
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Abstract
Disclosed are a method and apparatus for feature-based stereo matching. A method for stereo matching of a reference image and at least one comparative image captured by at least two cameras from different points of view using a computer device includes collecting the reference image and the at least one comparative image, extracting feature points from the reference image, tracking points corresponding to the feature points in the at least one comparative image using an optical flow technique, and generating a depth map according to correspondence-point tracking results.
106 Citations
18 Claims
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1. A method for stereo matching of a reference image and at least one comparative image captured from different points of view using a computer device, comprising:
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collecting the reference image and the at least one comparative image; extracting feature points from the reference image; tracking points corresponding to the feature points in the at least one comparative image using an optical flow technique; and generating a depth map according to correspondence-point tracking results. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for stereo matching of a reference image and at least one comparative image captured from different points of view using a computer device, comprising:
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collecting the reference image and the at least one comparative image; generating at least one image having lower resolution than an original image when images having various resolution levels are generated by decreasing the resolution of the original image according to each fixed step with respect to each of the reference image and the at least one comparative image, extracting first feature points from the reference image; tracking first correspondence points corresponding to the first feature points in the at least one comparative image using an optical flow technique; extracting second feature points from the at least one comparative image; tracking second correspondence points corresponding to the second feature points in the reference image using the optical flow technique; and generating a depth map by synthesizing tracking results of the first and second correspondence points, wherein the extraction of the first and second feature points and the tracking of the first and second correspondence points are started for images having lowest resolution and finally performed for images having original resolution. - View Dependent Claims (11)
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12. An apparatus for stereo matching of a reference image and at least one comparative image captured from different points of view, comprising:
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an image collection unit configured to collect the reference image and the at least one comparative image; a feature-point extraction unit configured to extract points within a fixed ranking as feature points by calculating unique values of a gradient matrix G in positions of the reference image and arranging points in descending order for a smaller unique value between two unique values produced as calculation results when the feature points are extracted from the reference image; a correspondence-point tracking unit configured to track points corresponding to the feature points in the at least one comparative image using an optical flow technique; and a depth-map generation unit configured to generate a depth map using correspondence-point tracking results. - View Dependent Claims (13, 14, 15, 16, 17, 18)
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Specification