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APPARATUS AND METHOD FOR ESTIMATING FUNDAMENTAL MATRIX USING ROBUST CORRESPONDENCE POINT
APPARATUS AND METHOD FOR ESTIMATING FUNDAMENTAL MATRIX USING ROBUST CORRESPONDENCE POINT
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机译：利用鲁棒对应点估计基本矩阵的装置和方法
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摘要
An apparatus and a method for estimating a fundamental matrix using a robust corresponding point are provided to estimate an optimum fundamental matrix with high precision, thereby improving reliability in various fields such as multi-view image generation, camera calibration and three dimensional image reconfiguration performed from a stereo image. A feature point extracting unit(120) extracts feature points by measuring a variation amount of brightness of an image. A candidate point selecting unit(130) selects candidate points, where a score by an autocorrelation function satisfies a predetermined range, from the feature points. A candidate sorting unit(140) calculates a median vector of a motion vector for candidate points within each area after dividing each image into four, and removes candidate points deviated from a predetermined threshold value for a size and a direction of the median vector. A fundamental matrix selecting unit(150) partitions each image into 8x8 areas, selects 8 areas from the partitioned areas, selects total 8 couples of corresponding points by arbitrarily extracting one corresponding point within each of the selected areas, and calculates a fundamental matrix from the selected corresponding point. After forming epipolar geometry for the calculated fundamental matrix, the fundamental matrix selecting unit selects a fundamental matrix where a distance error between an epipolar plane component and the corresponding point is the minimum.
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