STRUCTURED LIGHT MATCHING OF A SET OF CURVES FROM TWO CAMERAS
First Claim
1. A computer-implemented method performed by at least one computer processor for matching points between two images of a scene, the method including:
- retrieving two images acquired by a sensor, said two images forming a frame captured at a single relative position between the scene and the sensor, said images each containing a reflection of a projected pattern on said scene;
extracting blobs from said reflection in said images and individually labelling said blobs with a unique identifier;
selecting a selected epipolar plane from a set of epipolar planes and defining a conjugate epipolar line on each of said images;
identifying plausible combinations, said plausible combinations including a light sheet label of said projected pattern and said unique identifier for a plausible blob selected from said blobs in each of said images, said plausible blob crossing the conjugate epipolar line;
calculating a matching error for each of the plausible combinations;
repeating said steps of selecting, identifying and calculating for each epipolar plane of said set of epipolar planes;
determining a most probable combination by computing a figure of merit for said plausible combinations using said matching error for each epipolar plane of said set of epipolar planes;
identifying matching points in said frame from said most probable combination;
generating an output identifying said matching points in said frame.
2 Assignments
0 Petitions
Accused Products
Abstract
A method for matching points between two images of a scene acquired by two cameras, the method including: extracting blobs from the reflection in the images and individually labelling the blobs with a unique identifier; selecting a selected epipolar plane and defining a conjugate epipolar line on each of the images; identifying plausible combinations including a light sheet label of the projected pattern and the unique identifier for a plausible blob selected from the blobs in each of the images; calculating a matching error for each of the plausible combinations; repeating the steps of selecting, identifying and calculating for at least some epipolar planes; determining a most probable combination by computing a figure of merit for the plausible combinations; identifying matching points in the frame from the most probable combination.
10 Citations
12 Claims
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1. A computer-implemented method performed by at least one computer processor for matching points between two images of a scene, the method including:
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retrieving two images acquired by a sensor, said two images forming a frame captured at a single relative position between the scene and the sensor, said images each containing a reflection of a projected pattern on said scene; extracting blobs from said reflection in said images and individually labelling said blobs with a unique identifier; selecting a selected epipolar plane from a set of epipolar planes and defining a conjugate epipolar line on each of said images; identifying plausible combinations, said plausible combinations including a light sheet label of said projected pattern and said unique identifier for a plausible blob selected from said blobs in each of said images, said plausible blob crossing the conjugate epipolar line; calculating a matching error for each of the plausible combinations; repeating said steps of selecting, identifying and calculating for each epipolar plane of said set of epipolar planes; determining a most probable combination by computing a figure of merit for said plausible combinations using said matching error for each epipolar plane of said set of epipolar planes; identifying matching points in said frame from said most probable combination; generating an output identifying said matching points in said frame. - View Dependent Claims (2, 3, 4, 5, 6, 7, 11)
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8. A system for matching points between two images of a scene, including:
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a sensor including a light projector unit projecting at least one sheet of light onto said scene thereby providing a projected pattern on said scene; and two cameras for acquiring said two images of said scene, said two images forming a frame captured at a single relative position between the scene and the sensor, said images each containing a reflection of said projected pattern on said scene; wherein the cameras and the light projector unit are calibrated in a common coordinate system; and at least one computer processor in electronic communications with said sensor for retrieving said two images acquired by said cameras; extracting blobs from said reflection in said images and individually labelling said blobs with a unique identifier; selecting a selected epipolar plane from a set of epipolar planes and defining a conjugate epipolar line on each of said images; identifying plausible combinations, said plausible combinations including a light sheet label of said projected pattern and said unique identifier for a plausible blob selected from said blobs in each of said images, said plausible blob crossing the conjugate epipolar line; calculating a matching error for each of the plausible combinations; repeating said steps of selecting, identifying and calculating for each epipolar plane of said set of epipolar planes; determining a most probable combination by computing a figure of merit for said plausible combinations using said matching error for each epipolar plane of said set of epipolar planes; and identifying matching points in said frame from said most probable combination; at least one computer output in electronic communications with said processor for generating an output identifying said matching points in said frame. - View Dependent Claims (9, 10)
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12. A computer readable memory having recorded thereon statements and instructions for execution by at least one computer processor, said statements and instructions comprising:
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code means for retrieving two images acquired by a sensor, said two images forming a frame captured at a single relative position between the scene and the sensor, said images each containing a reflection of a projected pattern on said scene; code means for extracting blobs from said reflection in said images and individually labelling said blobs with a unique identifier; code means for selecting a selected epipolar plane from a set of epipolar planes and defining a conjugate epipolar line on each of said images; code means for identifying plausible combinations, said plausible combinations including a light sheet label of said projected pattern and said unique identifier for a plausible blob selected from said blobs in each of said images, said plausible blob crossing the conjugate epipolar line; code means for calculating a matching error for each of the plausible combinations; code means for repeating said steps of selecting, identifying and calculating for each epipolar plane of said set of epipolar planes; code means for determining a most probable combination by computing a figure of merit for said plausible combinations using said matching error for each epipolar plane of said set of epipolar planes; code means for identifying matching points in said frame from said most probable combination; code means for generating an output identifying said matching points in said frame.
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Specification