Automatic Estimation of Epipolar Geometry from Blob Features Report LiTH-ISY-R-2620
نویسندگان
چکیده
This report describes how blob features can be used for automatic estimation of the fundamental matrix from two perspective projections of a 3D scene. Blobs are perceptually salient, homogeneous, compact image regions. They are represented by their average colour, area, centre of gravity and inertia matrix. Coarse blob correspondences are found by voting using colour and local similarity transform matching on blob pairs. We then do RANSAC sampling of the coarse correspondences, and weight each estimate according to how well the approximating conics and colours of two blobs correspond. The initial voting significantly reduces the number of RANSAC samples required, and the extra information besides position, allows us to reject false matches more accurately than in RANSAC using point features.
منابع مشابه
Robust point-mass filters on manifolds, Report no. LiTH-ISY-R-2935
Robust state estimation for states evolving on compact manifolds is achieved by employing a point-mass filter. The proposed implementation emphasizes a sane treatment of the geometry of the problem, and advocates separation of the filtering algorithms from the implementation of particular manifolds.
متن کاملBlobs in Epipolar Geometry
Epipolar geometry is the geometry situation of two cameras depicting the same scene. For un-calibrated cameras epipolar geometry is compactly described by the fundamental matrix. Estimation of the fundamental matrix is trivial if we have a set of corresponding points in the two images. Corresponding points are often found using e.g. the Harris interest point detector, but there are several adva...
متن کاملRoad Geometry Estimation and Vehicle Tracking using a Single Track Model, Report no. LiTH-ISY-R-2844
This paper is concerned with the, by now rather well studied, problem of integrated road geometry estimation and vehicle tracking. The main di erences to the existing approaches are that we make use of an improved host vehicle model and a new dynamic model for the road. The problem is posed within a standard sensor fusion framework, allowing us to make good use of the available sensor informati...
متن کاملOn Information Measures for Bearings-only Estimation of a Random Walk Target, Report no. LiTH-ISY-R-2888
This report considers the bearings-only estimation problem of a random walk target. The estimation performance for a number of information measures in the Extended Kalman filter framework are investigated, both from a theoretical point of view and by simulation examples.
متن کاملGradient Channel Matrices for Orientation Estimation Report LiTH-ISY-R-2540
Image intensity gradients can be encoded in a 2-dimensional channel representation. This report discusses the computation of such gradient channel matrices and what information can be extracted from it. In particular does this representation allow to distinguish multiple orientations and magnitudes in a single representation. It is shown that this can be used to recover orientation very accurat...
متن کامل