METHOD FOR DETERMINING CORRESPONDENCES BETWEEN A FIRST AND A SECOND IMAGE, AND METHOD FOR DETERMINING THE POSE OF A CAMERA
First Claim
1. A method for determining correspondences between a first and a second image, comprising the steps of:
- a) providing a first image and a second image of the real environment;
b) defining a warping function between the first and second image;
c) determining the parameters of the warping function between the first image and the second image by means of an image registration method;
d) determining a third image by applying the warping function with the determined parameters to the first image;
e) determining a matching result by matching the third image and the second image; and
f) determining correspondences between the first and the second image using the matching result and the warping function with the determined parameters.
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Accused Products
Abstract
A method for determining correspondences between a first and a second image, comprising the steps providing a first image and a second image of the real environment, defining a warping function between the first and second image, determining the parameters of the warping function between the first image and the second image by means of an image registration method, determining a third image by applying the warping function with the determined parameters to the first image, determining a matching result by matching the third image and the second image, and determining correspondences between the first and the second image using the matching result and the warping function with the determined parameters. The method may be used in a keyframe based method for determining the pose of a camera based on the determined correspondences.
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Citations
20 Claims
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1. A method for determining correspondences between a first and a second image, comprising the steps of:
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a) providing a first image and a second image of the real environment; b) defining a warping function between the first and second image; c) determining the parameters of the warping function between the first image and the second image by means of an image registration method; d) determining a third image by applying the warping function with the determined parameters to the first image; e) determining a matching result by matching the third image and the second image; and f) determining correspondences between the first and the second image using the matching result and the warping function with the determined parameters. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 19, 20)
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16. A method for determining the pose of a camera, comprising the steps of:
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a) providing at least one reference image and a reference pose of the camera in a common coordinate system while capturing the at least one reference image; b) capturing a current image; c) determining correspondences between the current image and the at least one reference image, wherein the first image is set to be the reference image or the current image, and the second image is set to be the current image or the reference image, respectively; and d) determining the pose of the camera based on the determined correspondences. - View Dependent Claims (17, 18)
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Specification