System and method for estimating the epipolar geometry between images
US6771810B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 16, 2000 |
| Grant date | Aug 3, 2004 |
| Priority date | — |
| Expiry date | Aug 1, 2022 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V10/147
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
The present invention is embodied in a system and method for estimating epipolar geometry, in terms of a fundamental matrix, between multiple images of an object for stereo vision processing. The fundamental matrix embodies the epipolar geometry between the images. In general, the present invention includes a method for estimating epipolar geometry between multiple images of an original space given an initial estimate of the fundamental matrix found using a standard linear estimation technique. Namely, the system and method of the present invention estimates the fundamental matrix by transforming image points of multiple images into projective space. After this transformation is performed, nonlinear optimization is used with one parameterization of the fundamental matrix. The images are then inverse transformed back to the original space with a final estimate of the fundamental matrix. In addition, the original noise information is preserved during the optimization in the projective space.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.