Robust ground-plane homography estimation using adaptive feature selection
First Claim
1. A system for homography estimation, the system comprising one or more processors and a non-transitory computer-readable medium having executable instructions encoded thereon such that when the instructions are executed, the one or more processors perform operations of:
- determining feature correspondences that correspond with at least one moving object in each image in a set of images;
determining feature correspondences that correspond with at least one above-ground object in each image in the set of images;
excluding feature correspondences that correspond with each moving object in each image in the set of images;
excluding feature correspondences that correspond with each above-ground object in each image in the set of images;
dividing each image in the set of images into a plurality of sub-regions comprising feature correspondences;
limiting the number of feature correspondences in each sub-region to a predetermined threshold to ensure that feature correspondences are evenly distributed over each image in the set of images; and
generating a ground-plane homography estimation between the set of images by excluding the feature correspondences that correspond with moving and above-ground objects in the set of images and limiting the number of feature correspondences in each sub-region to ensure that feature correspondences are evenly distributed over each image in the set of images.
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Abstract
Described is system and method for robust ground-plane homography estimation using adaptive feature selection. The system determines feature correspondences of an image that correspond with at least one moving object in each image in a set of images. Additionally, feature correspondences of the image that correspond with at least one above-ground object are determined in each image. Feature correspondences that correspond with each moving object in each image are excluded, and feature correspondences that correspond with each above-ground object in each image are excluded. Each image is divided into a plurality of sub-regions comprising features correspondences. The number of feature correspondences in each sub-region is limited to a predetermined threshold to ensure that feature correspondences are evenly distributed over each image. Finally, a ground-plane homography estimation between the set of images is generated.
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Citations
12 Claims
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1. A system for homography estimation, the system comprising one or more processors and a non-transitory computer-readable medium having executable instructions encoded thereon such that when the instructions are executed, the one or more processors perform operations of:
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determining feature correspondences that correspond with at least one moving object in each image in a set of images; determining feature correspondences that correspond with at least one above-ground object in each image in the set of images; excluding feature correspondences that correspond with each moving object in each image in the set of images; excluding feature correspondences that correspond with each above-ground object in each image in the set of images; dividing each image in the set of images into a plurality of sub-regions comprising feature correspondences; limiting the number of feature correspondences in each sub-region to a predetermined threshold to ensure that feature correspondences are evenly distributed over each image in the set of images; and generating a ground-plane homography estimation between the set of images by excluding the feature correspondences that correspond with moving and above-ground objects in the set of images and limiting the number of feature correspondences in each sub-region to ensure that feature correspondences are evenly distributed over each image in the set of images. - View Dependent Claims (2, 3, 4)
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5. A computer-implemented method for homography estimation, comprising an act of causing a data processor to execute instructions stored on a non-transitory memory such that upon execution, the data processor performs operations of:
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determining feature correspondences that correspond with at least one moving object in each image in a set of images; determining feature correspondences that correspond with at least one above- ground object in each image in the set of images; excluding feature correspondences that correspond with each moving object in each image in the set of images; excluding feature correspondences that correspond with each above-ground object in each image in the set of images; dividing each image in the set of images into a plurality of sub-regions comprising feature correspondences; limiting. the number of feature correspondences in each sub-region to a predetermined threshold to ensure that feature correspondences are evenly distributed over each image in the set of images; and generating a ground-plane homography estimation between the set of images by excluding the feature correspondences that correspond with moving and above-ground objects in the set of images and limiting the number of feature correspondences in each sub-region to ensure that feature correspondences are evenly distributed over each image in the set of images. - View Dependent Claims (6, 7, 8)
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9. A computer program product for homography estimation, the computer program product comprising computer-readable instructions stored on a non-transitory computer-readable medium that are executable by a computer having a processor for causing the processor to perform operations of:
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determining feature correspondences that correspond with at least one moving object in each image in a set of images; determining feature correspondences that correspond with at least one above-ground object in each image in the set of images; excluding feature correspondences that correspond with each moving object in each image in the set of images; excluding feature correspondences that correspond with each above-ground object in each image in the set of images; dividing, each image in the set of images into a plurality of sub-regions comprising feature correspondences; limiting the number of feature correspondences in each sub-region to a predetermined threshold to ensure that feature correspondences are evenly distributed over each image in the set of images; and generating a ground-plane homography estimation between the set of images by excluding the feature correspondences that correspond with moving and above-ground objects in the set of images and limiting the number of feature correspondences in each sub-region to ensure that feature correspondences are evenly distributed over each image in the set of images. - View Dependent Claims (10, 11, 12)
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Specification