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A method for homography estimation by using a common autopolar triangle of a spherical image

A triangular and homography technology, applied in the field of computer vision, can solve problems such as the complexity of estimating homography matrix methods, and achieve the effect of simple production and improved accuracy

Inactive Publication Date: 2019-05-03
YUNNAN UNIV
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Problems solved by technology

Since the method of estimating the homography matrix with the quadratic curve is too complex

Method used

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  • A method for homography estimation by using a common autopolar triangle of a spherical image
  • A method for homography estimation by using a common autopolar triangle of a spherical image
  • A method for homography estimation by using a common autopolar triangle of a spherical image

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Embodiment

[0083] The invention proposes a method of using a space sphere as a calibration object, and uses the spherical image of two images and the common self-polar triangle of the extended spherical image to perform homography estimation. The experimental template structural schematic diagram that the present invention adopts is as figure 1 shown. The embodiment of the present invention will be described in more detail with an example below.

[0084] Such as figure 1 As shown, the experimental template used in the present invention is a space sphere, denoted as Q. The concrete steps of utilizing the method of the present invention to carry out homography estimation are as follows:

[0085] 1. Fitting mirror profile projection equation, spherical image equation

[0086] Use a parabolic catadioptric camera to take two images of a space sphere from different positions, read the images, use the Canny operator in MATLAB to extract the edge points of the mirror contour projection, and ...

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Abstract

The invention relates to a method for homography estimation by using a public autopolar triangle of a spherical image, which comprises the following steps of: taking a sphere in space as a target, shooting two images of the sphere in the space from different positions under a parabolic catadioptric system, and fitting a mirror surface contour projection equation, a target projection equation and an antipodal sphere image equation; Secondly, respectively calculating a characteristic value and a characteristic vector of a matrix formed by the spherical image and the antipodal spherical image inthe two images; then, by matching characteristic values, three pairs of line correspondence are obtained, and the three pairs of line correspondence are three pairs of corresponding edges of the public self-polar triangle; then, connecting the intersection points of the public self-polar triangle and the quadratic curve to obtain a fourth pair of line correspondence which is correspondingly positioned in the public self-polar triangle; and finally, the four pairs of lines are correspondingly subjected to SVD decomposition to obtain a homography matrix.

Description

technical field [0001] The invention belongs to the field of computer vision. The projection of a space sphere on an image plane is a spherical image and an inverse spherical image, and homography estimation is performed by using the common self-polar triangle of the spherical image and the inverse spherical image. Background technique [0002] Computer vision is a science about how to use cameras and computers to obtain data and information of photographed objects, and it is an important means for human beings to observe and recognize the world. Computer vision is centered on visual processing and is a category of artificial intelligence. New Field. It is also an important branch of information processing science based on image processing, pattern recognition, computer technology and physiological psychology. Computer vision technology integrates knowledge of digital image processing, digital signal processing, optics, physics, geometry, applied mathematics, pattern recogn...

Claims

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Application Information

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IPC IPC(8): G06T7/80G06T7/13G06T7/64
Inventor 于晓娟赵越
Owner YUNNAN UNIV
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