System and method for ranking and extracting salient contours for target recognition
First Claim
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1. A computer system for object matching in stereo comprising:
- stereo structure for capturing and delivering a plurality of stereo image frames, each of said stereo image frames including a plurality of contours, each of said contours including edgels, said plurality of stereo image frames having associated therewith at least one three-dimensional parameter;
a vision system including a linker which links said edgels into said contours, said vision system connected to said stereo structure for receiving said plurality of stereo image frames from said stereo structure, and including a processing unit for determining a saliency for each of said contours and ranking said plurality of contours in order of saliency and extracting the most salient contours from said stereo image frames; and
a matcher connected to said vision system such that said vision system provides said most salient contours to said matcher whereby said matcher matches said most salient contours to estimate at least one three-dimensional parameter of said plurality of stereo image frames.
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Abstract
A system and method for obtaining salient contours from two-dimensional images acquired by a sensor is disclosed which process the two-dimensional images with an edge detector to produce edgels from each of the images, link the edgels into lists known as contours, compute a saliency value for each of the contours, rank the contours in decreasing order of saliency, and select certain ones of the ranked contours based on the requirements of a particular vision application.
Other devices, systems and methods are also disclosed.
52 Citations
11 Claims
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1. A computer system for object matching in stereo comprising:
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stereo structure for capturing and delivering a plurality of stereo image frames, each of said stereo image frames including a plurality of contours, each of said contours including edgels, said plurality of stereo image frames having associated therewith at least one three-dimensional parameter; a vision system including a linker which links said edgels into said contours, said vision system connected to said stereo structure for receiving said plurality of stereo image frames from said stereo structure, and including a processing unit for determining a saliency for each of said contours and ranking said plurality of contours in order of saliency and extracting the most salient contours from said stereo image frames; and a matcher connected to said vision system such that said vision system provides said most salient contours to said matcher whereby said matcher matches said most salient contours to estimate at least one three-dimensional parameter of said plurality of stereo image frames. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A vision system for object matching in stereo comprising:
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stereo structure for capturing and delivering a plurality of stereo image frames, each of said stereo image frames including a plurality of contours, each of said contours including edgels, said plurality of stereo image frames having associated therewith at least one three-dimensional parameter; a vision system including a linker which links said edgels into said contours, said vision system connected to said stereo structure for receiving said plurality of stereo image frames from said stereo structure, and including a processing unit for determining a saliency for each of said contours and ranking said plurality of contours in order of saliency and extracting the most salient contours from said stereo image frames; and a matcher connected to said vision system such that said vision system provides said most salient contours to said matcher whereby said matcher matches said most salient contours to estimate at least one three-dimensional parameter of said plurality of stereo image frames.
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Specification