Component based correspondence matching for reconstructing cables

Patent metadata

Field	Value
Publication number	US-8929602-B2
Application number	US-201313756003-A
Country	US
Kind code	B2
Filing date	Jan 31, 2013
Priority date	Jan 31, 2013
Publication date	Jan 6, 2015
Grant date	Jan 6, 2015

Abstract

In a stereoscopic pair of images, global homography at the image level is applied to feature points extracted from connected components (CC) to identify corresponding CC's and feature points, and to discard any CC's that do not have a corresponding pair in the stereoscopic pair of images. Local homography at the CC level is then applied to individual footprint areas of the previously identified paired CC to further clean feature point correspondence. Any CC or feature point or pixel within a paired CC footprint not satisfying local homography constraint is discarded. A correspondence is also extrapolated between unknown pixels within a paired CC footprint using a weighing mechanism and the unknown pixel's surrounding pixels that do have a known correspondence. This provides a dense correspondence of pixels, or feature points, which is then used to create a dense 3D point cloud of identified objects within a 3D space.

First claim

What is claimed is:

1. A method of identifying corresponding objects in first and second images of a stereoscopic pair of images, said method comprising the following steps:
(a) determining a first set of connected components from said first image, and a second set of connected components from said second image;
(b) determining a first set of feature descriptors from said first set of connected components and a second set of feature descriptors from said second set of connected…

Assignees

• Seiko Epson Corp

Inventors

• Ding Yuanyuan
• Xiao Jing

Classifications

• G06V10/757

  Physics · mapped topic

• G06T7/73 Primary

  Physics · mapped topic

• G06T7/004

  Physics · mapped topic

• G06K9/6211 Primary

  Physics · mapped topic

• G06T7/70

  Physics · mapped topic