Detection and removal of image occlusion errors
First Claim
1. A method for locating matching points in two original images of a scene, a left image and a right image, such that the images have at least some overlap area, said method comprising:
- selecting a first point within the overlap area in the right image;
running a first correspondence search using the first point to find a first matching point in the left image;
running a second correspondence search using the first matching point found by the first correspondence search to find a second matching point in the right image, wherein the second correspondence search is not run on any points to the left of the first point in the right image, and wherein a range of the second correspondence search is narrower than a range of the first correspondence search; and
selecting a match point comprising the first matching point and second matching point.
1 Assignment
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Accused Products
Abstract
A system, method, and computer-readable medium for detecting and eliminating correspondence errors associated with image occlusions. In a first embodiment of the invention, the method applies traditional correspondence methods for matching points in two images, a left image (FIG. 1A) and a right image (FIG. 1B), taken of the same scene. The method applies the correspondence method to locate a matching a point (310) in the right image (FIG. 1B) with a “best match” point (320) in the left image (FIG. 1A). A set of matching points (310, 320) is generated. A second search is then performed by using the best match point (320) in the right image (FIG. 1B) as the basis for an additional correspondence search in the left image (FIG. 1A). The range of match candidates in the second search is such that points to the left of the starting point (310) are not tested as match candidates. The point (330) generated in the second search may be the same point (310) that was used in the first search or may be a different point altogether. The results of the second search are selected as the match candidates.
81 Citations
23 Claims
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1. A method for locating matching points in two original images of a scene, a left image and a right image, such that the images have at least some overlap area, said method comprising:
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selecting a first point within the overlap area in the right image;
running a first correspondence search using the first point to find a first matching point in the left image;
running a second correspondence search using the first matching point found by the first correspondence search to find a second matching point in the right image, wherein the second correspondence search is not run on any points to the left of the first point in the right image, and wherein a range of the second correspondence search is narrower than a range of the first correspondence search; and
selecting a match point comprising the first matching point and second matching point. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for locating matching points in two original images of a scene, a left image and a right image, such that the images have at least some overlap area, said method comprising:
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splitting the left image and the right image into left subimages and right subimages, respectively, wherein each subimage comprises the values of only one of the color coordinates used to define the image with which it is associated;
pairing each left subimage with the right subimage which uses the same color coordinate values;
running a first correspondence search using a first point in the right subimage to find a first matching point in the left subimage;
running a second correspondence search on the first matching point found by the first correspondence search to find a second matching point in the right subimage, wherein the second correspondence search is not run on any points to the left of the first point in the right subimage and wherein a range of the second correspondence search is narrower than a range of the first correspondence search;
selecting match points using the first matching point and the second matching point; and
storing each selected match point in a list of match points. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A system for locating matching points in two original images of a scene, a left image and a right image, such that the images have at least some overlap area, the system comprising:
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a storage device for storing the images and executable code;
coupled to the storage device, means for selecting a first point within the overlap area in the right image;
coupled to the storage device, means for running a first correspondence search using the first point to find a first matching point in the left image;
coupled to the storage device, means for running a second correspondence search using the first matching point found by the first correspondence search to find a second matching point in the right image wherein the second correspondence search is not run on any points to the left of the first point in the right image and wherein a range of the second correspondence search is narrower than a range of the first correspondence search; and
means for selecting match points using the first matching point and the second matching point. - View Dependent Claims (21)
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22. A computer-readable medium containing a computer program for creating a list of match points in two images, said program containing instructions for directing the computer to execute the steps of:
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splitting the left image and the right image into left subimages and right subimages, respectively, wherein each subimage comprises the values of only one of the color coordinates used to define the corresponding image;
pairing each left subimage with the right subimage which uses the same color coordinate values;
running a first correspondence search using a first point in the right subimage to find a first matching point in the left subimage;
running a second correspondence search on the first matching point found by the first correspondence search to find a second matching point in the right subimage, wherein the second correspondence search is not run on any points to the left of the first point in the right subimage and wherein a range of the second correspondence search is narrower than a range of the first correspondence search;
selecting match points using the first matching point and second matching point; and
storing each selected match point in a list of match points. - View Dependent Claims (23)
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Specification