Context and Epsilon Stereo Constrained Correspondence Matching
First Claim
1. A method of matching first pixels in a first image of a 3D scene to corresponding second pixels in a second image of the same 3D scene, said method comprising:
- (a) obtaining said first image and said second image, wherein said first image is a first multi-perspective image and said second image is a second multi-perspective image;
(b) defining an index of matched pixel pairs;
(c) identifying a plurality of target pixels in said first image to be matched to pixels in said second image;
(d) for each identified target pixel;
(i) determining its potential corresponding pixel in said second image;
(ii) determining a vertical parallax in the second image for the for the identified target pixel, said vertical parallax being distinct from any horizontal parallax;
(iii) determining the minimum distance from said potential corresponding pixel to said vertical parallax, and(iv) IF said minimum distance is not greater than a predefined maximum distance, THEN deeming said potential corresponding pixel to be a true match for said identified target pixel and adding the pixel pair comprised of said potential corresponding pixel and said identified target pixel to said index of matched pixel pairs, ELSE deeming said potential corresponding pixel to not be a match for said identified target pixel and omitting said target pixel and said potential corresponding pixel from the index of matched pairs.
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Abstract
A catadioptric camera having a perspective camera and multiple curved mirrors, images the multiple curved mirrors and uses the epsilon constraint to establish a vertical parallax between points in one mirror and their corresponding reflection in another. An ASIFT transform is applied to all the mirror images to establish a collection of corresponding feature points, and edge detection is applied on mirror images to identify edge pixels. A first edge pixel in a first imaged mirror is selected, its 25 nearest feature points are identified, and a rigid transform is applied to them. The rigid transform is fitted to 25 corresponding feature points in a second imaged mirror. The closes edge pixel to the expected location as determined by the fitted rigid transform is identified, and its distance to the vertical parallax is determined. If the distance is not greater than predefined maximum, then it is deemed correlate to the edge pixel in the first imaged mirror.
170 Citations
20 Claims
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1. A method of matching first pixels in a first image of a 3D scene to corresponding second pixels in a second image of the same 3D scene, said method comprising:
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(a) obtaining said first image and said second image, wherein said first image is a first multi-perspective image and said second image is a second multi-perspective image; (b) defining an index of matched pixel pairs; (c) identifying a plurality of target pixels in said first image to be matched to pixels in said second image; (d) for each identified target pixel; (i) determining its potential corresponding pixel in said second image; (ii) determining a vertical parallax in the second image for the for the identified target pixel, said vertical parallax being distinct from any horizontal parallax; (iii) determining the minimum distance from said potential corresponding pixel to said vertical parallax, and (iv) IF said minimum distance is not greater than a predefined maximum distance, THEN deeming said potential corresponding pixel to be a true match for said identified target pixel and adding the pixel pair comprised of said potential corresponding pixel and said identified target pixel to said index of matched pixel pairs, ELSE deeming said potential corresponding pixel to not be a match for said identified target pixel and omitting said target pixel and said potential corresponding pixel from the index of matched pairs. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method of matching edge pixels in a first image of a 3D scene to corresponding edge pixels in a second image of the same 3D scene, said method comprising:
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(a) obtaining said first image and said second image, wherein said first image is a first catadioptric image and said second image is a second catadioptric image; (b) applying an affine scale-invariant feature transform (ASIFT) to said first and second catadioptric images to render a collection of feature point pairs, each feature point pair including a first feature point in said first image and a corresponding second feature point in said second image; (c) applying edge pixel detection to said first and second catadioptric images; (d) identifying as a target pixel, in turn, each detected edge pixel in said first image, and for each identified target pixel; (I) determining its vertical parallax in the second image, said vertical parallax being distinct from any horizontal parallax; (II) identifying N first feature points nearest to the target pixel, wherein N is a fixed, predefined number; (III) defining a rigid transform T(.) for the current target pixel using the identified N first feature points; (IV) fitting the rigid transform to N corresponding second feature points in the second image that correspond to the N first feature points of the first image, identifying a detected edge pixel in said second image that is nearest to the expected position of a corresponding target pixel relative to the N second feature points in the second image as determined from the fitted rigid transform, the identified closest edge pixel T(p) being a potential corresponding pixel; (V) determining the minimum distance from said potential corresponding pixel to said vertical parallax; and (VI) IF said minimum distance is not greater than a predefined maximum distance, THEN deeming said potential corresponding pixel to be a true match for said identified target pixel and retaining the edge pixel pair comprised of said potential corresponding pixel and said identified target pixel, ELSE deeming said potential corresponding pixel to not be a match for said identified target pixel, and discarding the edge pixel pair comprised of said potential corresponding pixel and said identified target pixel. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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17. A catadioptric camera system, comprising:
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a first plurality of curved mirrors; a first perspective camera with a field of vision encompassing said first plurality of curved mirrors, said first camera being configured to image said first plurality of curved mirrors simultaneously, each curved mirror providing a respective catadioptric image; a data processing device for applying the following steps to a given pair of first and second catadioptric images; (b) applying an affine scale-invariant feature transform (ASIFT) to said first and second catadioptric images to render a collection of feature point pairs, each feature point pair including a first feature point in said first image and a corresponding second feature point in said second image; (c) applying edge pixel detection to said first and second catadioptric images; (d) identifying as a target pixel, in turn, each detected edge pixel in said first image, and for each identified target pixel; (I) determining its vertical parallax in the second image, said vertical parallax being distinct from any horizontal parallax; (II) identifying N first feature points nearest to the target pixel, wherein N is a fixed, predefined number; (III) defining a rigid transform T(.) for the current target pixel using the identified N first feature points; (IV) fitting the rigid transform to the N corresponding second feature points that constitute the feature point pair of each of the N first feature points, identifying a detected edge pixel in said second image that is nearest to the expected position of a corresponding target pixel relative to the N second feature points as determined from the fitted rigid transform, the identified closest edge pixel T(p) being a potential corresponding pixel; (V) determining the minimum distance from said potential corresponding pixel to said vertical parallax; and (VI) IF said minimum distance is not greater than a predefined maximum distance, THEN deeming said potential corresponding pixel to be a true match for said identified target pixel, and retaining the edge pixel pair comprised of said potential corresponding pixel and said identified target pixel, ELSE deeming said potential corresponding pixel to not be a match for said identified target pixel, and discarding the edge pixel pair comprised of said potential corresponding pixel and said identified target pixel. - View Dependent Claims (18, 19, 20)
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Specification