Apparatus and method for feature matching in distorted images
First Claim
Patent Images
1. A method, comprising:
- obtaining, by one or more computing devices, a plurality of radially-distorted images captured from one location in different directions, the plurality of images each having a field of view, and neighboring images among the plurality of images having overlapping fields of view;
reducing, by the one or more computing devices, relative distortion of portions of the neighboring images in the overlapping fields of view of the neighboring images by warping the portions of the neighboring images in the overlapping fields of view of the neighboring images by barrel transforming the portions of the neighboring images in the overlapping fields of view of the neighboring images, the barrel transforms being centered beyond the field of view of the neighboring images in opposite directions for each of the neighboring images;
matching, by the one or more computing devices, features between the reduced distortion portions of neighboring images in the overlapping fields of view; and
storing, by the one or more computing devices, in memory data indicative of the matched features.
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Abstract
Provided is a method of processing images. The method may include obtaining a plurality of radially-distorted images captured from one location in different directions, the plurality of images each having a field of view, and neighboring images among the plurality of images having overlapping fields of view. The method may further include reducing relative distortion of portions of the neighboring images in the overlapping fields of view of the neighboring images, matching features between the reduced distortion portions of neighboring images in the overlapping fields of view, and storing in memory data indicative of matched features.
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Citations
20 Claims
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1. A method, comprising:
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obtaining, by one or more computing devices, a plurality of radially-distorted images captured from one location in different directions, the plurality of images each having a field of view, and neighboring images among the plurality of images having overlapping fields of view; reducing, by the one or more computing devices, relative distortion of portions of the neighboring images in the overlapping fields of view of the neighboring images by warping the portions of the neighboring images in the overlapping fields of view of the neighboring images by barrel transforming the portions of the neighboring images in the overlapping fields of view of the neighboring images, the barrel transforms being centered beyond the field of view of the neighboring images in opposite directions for each of the neighboring images; matching, by the one or more computing devices, features between the reduced distortion portions of neighboring images in the overlapping fields of view; and storing, by the one or more computing devices, in memory data indicative of the matched features. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A non-transitory tangible machine-readable medium having a computer program product stored thereon that causes a computer system to effect a process comprising the following:
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obtaining a plurality of radially-distorted images captured from one location in different directions, the plurality of images each having a field of view, and neighboring images among the plurality of images having overlapping fields of view; reducing relative distortion of portions of the neighboring images in the overlapping fields of view of the neighboring images by warping the portions of the neighboring images in the overlapping fields of view of the neighboring images by barrel transforming the portions of the neighboring images in the overlapping fields of view of the neighboring images, the barrel transforms being centered beyond the field of view of the neighboring images in opposite directions for each of the neighboring images; matching features between the reduced distortion portions of neighboring images in the overlapping fields of view; and storing in memory data indicative of the matched features.
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18. A system, comprising:
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one or more processors; one or more memories communicatively coupled to the one or more processors and storing instructions that when executed by one or more of the one or more processors cause a process comprising the following to occur; obtaining a plurality of radially-distorted images captured from one location in different directions, the plurality of images each having a field of view, and neighboring images among the plurality of images having overlapping fields of view; reducing relative distortion of portions of the neighboring images in the overlapping fields of view of the neighboring images by warping the portions of the neighboring images in the overlapping fields of view of the neighboring images by barrel transforming the portions of the neighboring images in the overlapping fields of view of the neighboring images, the barrel transforms being centered beyond the field of view of the neighboring images in opposite directions for each of the neighboring images; matching features between the reduced distortion portions of neighboring images in the overlapping fields of view; and storing in memory data indicative of the matched features. - View Dependent Claims (19, 20)
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Specification