Camera alignment method using correspondence between multi-images
First Claim
1. A method of aligning a position of a camera in a multi-camera system photographing multi-images, the method comprising:
- defining a correspondence relation between a plurality of images photographed in the multi-camera system;
estimating respective initial positions of the camera and a three-dimensional point using the correspondence relation between the plurality of images and a Structure From Motion (SFM) algorithm;
determining projected two-dimensional points by projecting the three-dimensional point onto first and second images among the plurality of images, respectively, the first and second images including respective original two-dimensional points;
determining Euclidean distances between the projected two-dimensional points and the original two-dimensional points of the first and second images, respectively; and
when a sum of the Euclidean distances is less than or equal to a reference value, generating an optimal edge using a bundle edge that connects a first vertex corresponding to the first image and a second vertex corresponding to the second image, and correcting the position of the camera based on the optimal edge.
1 Assignment
0 Petitions
Accused Products
Abstract
Provided is a method of aligning a camera using correspondence information between multi-images. The camera alignment method using correspondences between multi-images includes defining a correspondence relation between images photographed in the multi-camera system, estimating an initial position of the camera using the correspondence relation between the images and a Structure From Motion (SFM) algorithm, redefining a changed correspondence relation between the images as a result of the estimation of the initial position of the camera using a bundle edge to generate an optimal edge, and correcting the position of the camera based on the optimal edge.
-
Citations
14 Claims
-
1. A method of aligning a position of a camera in a multi-camera system photographing multi-images, the method comprising:
-
defining a correspondence relation between a plurality of images photographed in the multi-camera system; estimating respective initial positions of the camera and a three-dimensional point using the correspondence relation between the plurality of images and a Structure From Motion (SFM) algorithm; determining projected two-dimensional points by projecting the three-dimensional point onto first and second images among the plurality of images, respectively, the first and second images including respective original two-dimensional points; determining Euclidean distances between the projected two-dimensional points and the original two-dimensional points of the first and second images, respectively; and when a sum of the Euclidean distances is less than or equal to a reference value, generating an optimal edge using a bundle edge that connects a first vertex corresponding to the first image and a second vertex corresponding to the second image, and correcting the position of the camera based on the optimal edge. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. An apparatus for aligning a position of a camera in a multi-camera system photographing multi-images, the apparatus comprising:
-
at least one processor; and a non-volatile memory configured to store a code executed by the processor, wherein the processor is implemented to; define a correspondence relation between a plurality of images photographed in the multi-camera system; estimate respective initial positions of the camera and a three-dimensional point using the correspondence relation between the plurality of images and a Structure From Motion (SFM) algorithm; and determine projected two-dimensional points by projecting the three-dimensional point onto first and second images among the plurality of images, respectively, the first and second images including respective original two-dimensional points; determine Euclidean distances between the projected two-dimensional points and the original two-dimensional points of the first and second images, respectively; and when a sum of the Euclidean distances is less than or equal to a reference value, generate an optimal edge using a bundle edge that connects a first vertex corresponding to the first image and a second vertex corresponding to the second image, and correct the position of the camera based on the optimal edge. - View Dependent Claims (10, 11, 12, 13, 14)
-
Specification