This paper gives a new method for image rectification, the process of resampling pairs of stereo images taken from widely differing viewpoints in order to produce a pair of “matched epipolar projections”. These are projections in which the epipolar lines run parallel with the x-axis and consequently, disparities between the images are in the x-direction only. The method is based on an examinati...

Visual simultaneous localization and mapping (SLAM), based on point features, achieves high accuracy map construction. They primarily perform static features. Despite their efficiency precision, they are prone to instability even failure in complex environments. In a dynamic environment, it is easy keep track of failures work. The object elimination method, semantic segmentation, often recogniz...

Binocular Stereo is the process of estimating three-dimensional shape (stereo) from two eyes (binocular) or two cameras. Usually it is just called stereo. It requires knowing the camera parameters (e.g., focal length, direction of gaze), as discussed in earlier lecture, and solving the correspondence problem – matching pixels between the left and right images. After correspondence has been solv...

Vehicles parked on streets make traffic problems in urban areas worse. We propose a method to detect those street-parking vehicles, using epipolar plane images (EPIs) acquired by a line scan camera, for traffic census. Our method is based on calculating the distance between the vehicles and the camera from the slope of the feature paths in an EPI. The feature paths are extracted in an EPI by th...

We propose a new approach to recover epipolar geometry from a pair of uncalibrated images. By minimizing a proposed cost function, our approach matches the detected feature points from an image pair, discards the outliers and recovers the epipolar geometry simutaneously. Experiments on real images show that this approach is effective and fast.

This paper describes a innovative algorithm for the on-line estimation of the image jacobian based on previous movements. It has been utilized for the tracking of an uncalibrated 3 DOF joint system, using two weakly calibrated fixed cameras. The algorithm incorporates the epipolar restriction of the two cameras conveyed in the fundamental matrix, and a reliability factor has been defined for th...

We present an approach to detecting and describing compositions of buildings with flat or complex rooftops by using multiple, overlapping images of the scene. First, 3-D features are generated by using multiple images, and rooftop hypotheses are generated by neighborhood searches on those features. For robust generation of 3-D features, we present a probabilistic approach to address the epipola...