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RANSAC-Based Stereo Image Registration with Geometrically Constrained Hypothesis Generation

Robert Cupec orcid.org/0000-0003-4451-7952 ; Elektrotehnički fakultet Osijek, Sveučilišta u Osijeku, Osijek, Hrvatska
Emanuel Karlo Nyarko orcid.org/0000-0001-8041-3646 ; Elektrotehnički fakultet Osijek, Sveučilišta u Osijeku, Osijek, Hrvatska
Andreja Kitanov ; Fakultet elektrotehnike i računarstva Sveučilišta u Zagrebu, Zagreb, Hrvatska
Ivan Petrović orcid.org/0000-0001-9961-5627 ; Fakultet elektrotehnike i računarstva Sveučilišta u Zagrebu, Zagreb, Hrvatska

Sažetak

An approach for registration of sparse feature sets detected in two stereo image pairs taken from two different views is proposed. Analogously to many existing image registration approaches, our method consists of initial matching of features using local descriptors followed by a RANSAC-based procedure. The proposed approach is especially suitable for cases where there is a high percentage of false initial matches. The strategy proposed in this paper is to modify the hypothesis generation step of the basic RANSAC approach by performing a multiple-step procedure which uses geometric constraints in order to reduce the probability of false correspondences in generated hypotheses. The algorithm needs approximate information about the relative camera pose between the two views. However, the uncertainty of this information is allowed to be rather high. The presented technique is evaluated using both synthetic data and real data obtained by a stereo camera system.

Ključne riječi

Image registration; Stereo vision; Feature tracking; RANSAC

Hrčak ID:

47493

URI

https://hrcak.srce.hr/47493

Datum izdavanja:

22.12.2009.

Podaci na drugim jezicima: hrvatski

Posjeta: 1.721 *