KEYPOINT UNWARPING
First Claim
Patent Images
1. An image processing system having at least one processor adapted to unwarp keypoints, the system comprising:
- a keypoint extractor configured to receive image data representative of a first image and to identify a plurality of keypoints within the image data and generate first keypoint data;
a keypoint transformer configured to transform the first keypoint data to second keypoint data based upon an image deformation model; and
a descriptor configured to produce, from the image data that has not been transformed based upon the image deformation model, descriptor data for at least some of the plurality of keypoints.
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Abstract
Apparatus and methods to unwarp at least portions of distorted, electronically-captured images are described. Keypoints, instead of an entire image, may be unwarped and used in various machine-vision algorithms, such as object recognition, image matching, and 3D reconstruction algorithms. When using unwarped keypoints, the machine-vision algorithms may perform reliably irrespective of distortions that may be introduced by one or more image capture systems.
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Citations
29 Claims
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1. An image processing system having at least one processor adapted to unwarp keypoints, the system comprising:
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a keypoint extractor configured to receive image data representative of a first image and to identify a plurality of keypoints within the image data and generate first keypoint data; a keypoint transformer configured to transform the first keypoint data to second keypoint data based upon an image deformation model; and a descriptor configured to produce, from the image data that has not been transformed based upon the image deformation model, descriptor data for at least some of the plurality of keypoints. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. An image processing method for electronically unwarping keypoints by at least one processor, the method comprising:
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receiving, by a keypoint extractor, image data representative of a first image; identifying, by a keypoint extractor, a plurality of keypoints within the image data; generating, by the keypoint extractor, first keypoint data corresponding to the plurality of identified keypoints; transforming, by a keypoint transformer, the first keypoint data to second keypoint data based upon an image deformation model; and producing, by a descriptor, from the image data that has not been transformed based upon the image deformation model, descriptor data for at least some of the plurality of keypoints. - View Dependent Claims (14, 15, 16, 17, 18)
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19. An image processing system having at least one processor adapted to unwarp keypoints, the system comprising:
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a matching model generator configured to receive image deformation data associated with a distorted image and to identify a matching model to a feature matcher; and the feature matcher configured to receive keypoint data and descriptor data obtained from a distorted image, the matching model, and feature data associated with at least one comparison image, wherein the feature matcher unwarps keypoints in the keypoint data in accordance with the matching model. - View Dependent Claims (20, 21, 22, 23, 24)
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25. An image processing method for electronically unwarping keypoints by at least one processor, the method comprising:
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receiving, by a matching model generator, image deformation data associated with a distorted image identifying, by the matching model generator, a matching model to a feature matcher; receiving, by the feature matcher, keypoint data obtained from a distorted image; and unwarping, by the feature matcher, the keypoint data in accordance with the identified matching model. - View Dependent Claims (26, 27, 28, 29)
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Specification