Method for estimation of fundamental matrix in implementing a stereo vision
First Claim
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1. A method for estimation of a fundamental matrix by selecting a set of correspondence points in the camera images to obtain the relative geometrical information for the two cameras in implementing a stereo vision, the method comprising the steps of:
- (a) selecting a predetermined number of random correspondence points, and then obtaining an initial fundamental matrix by linear method;
(b) calculating an error of each correspondence point from the initial fundamental matrix, and obtaining the median value of the set of the calculated errors;
(c) iterating for predetermined times the steps of (a) and (b), and storing the initial fundamental matrix and the median value according to the initial fundamental matrix for each iteration;
(d) selecting the least median value and the larger median value ranged within about 10% of the least median value among the stored median value, and corresponding fundamental matrix;
(e) presetting a threshold value corresponding to the respective selected median value, and obtaining inlier sets corresponding to the respective median value using the corresponding threshold value and the initial fundamental matrix;
(f) selecting the inlier set wherein the standard deviation of the distribution of the inlier set is minimum; and
(g) obtaining the fundamental matrix using the selected of inlier set.
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Abstract
A method for estimation of a fundamental matrix by selecting sets of correspondence points is provided. According to the method, an entire image is divided into several sub-regions, and the number of the inliers in each sub-region and the area of each region is examined. The standard deviation are used as quantitative measures to select a proper inlier set. This method achieves a more precise estimation of the fundamental matrix than conventional method does.
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10 Claims
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1. A method for estimation of a fundamental matrix by selecting a set of correspondence points in the camera images to obtain the relative geometrical information for the two cameras in implementing a stereo vision, the method comprising the steps of:
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(a) selecting a predetermined number of random correspondence points, and then obtaining an initial fundamental matrix by linear method; (b) calculating an error of each correspondence point from the initial fundamental matrix, and obtaining the median value of the set of the calculated errors; (c) iterating for predetermined times the steps of (a) and (b), and storing the initial fundamental matrix and the median value according to the initial fundamental matrix for each iteration; (d) selecting the least median value and the larger median value ranged within about 10% of the least median value among the stored median value, and corresponding fundamental matrix; (e) presetting a threshold value corresponding to the respective selected median value, and obtaining inlier sets corresponding to the respective median value using the corresponding threshold value and the initial fundamental matrix; (f) selecting the inlier set wherein the standard deviation of the distribution of the inlier set is minimum; and (g) obtaining the fundamental matrix using the selected of inlier set. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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Specification