Projective transformation convergence calculation method

Details Projective transformation convergence calculation method Projective transformation convergence calculation method

2008-03-27

2011-10-11

Rahmjoo, Mike (Department: 2624)

Image analysis

Applications

Robotics

C382S154000, C382S173000, C382S181000, C382S218000, C700S245000

Reexamination Certificate

active

08036449

ABSTRACT:
A method for performing a convergence calculation using a projective transformation between images captured by two cameras to observe a flat part of an object in the images, wherein a computational load is reduced while securing a convergence property of the convergence calculation. Initial values (n0(i), d0(i)) are set to values satisfying a limiting condition that should be satisfied by the initial values (n0(i), d0(i)), where the limiting condition is that a plane πa(i) defined by the initial values (n0(i), d0(i)) of given types of parameters (n(i), d(i)) of a projective transformation matrix in the convergence calculation is inclined with respect to an actual plane including the flat part of the object to be observed.

REFERENCES:
patent: 2007/0219705 (2007-09-01), Bitar et al.
patent: 2005-217883 (2005-08-01), None
patent: 2006-054681 (2006-02-01), None
Masatoshi Okutomi, “Robust Estimation of Planar Regions for Visual Navigation Using Sequential Stereo Images”, Proceedings of the 2002 IEEE International Conference on Robotics & Automation, Washington, DC; vol. 4, 2002, pp. 3321-3327; XP-002574213.
Akihito Seki, et al., “Extraction of Planner Region and Obstacle Detection Using Stereo Images”, IPSJ Transactions on Computer Vision and Image Media, vol. 45, No. SIG13 (CV1M10), Dec. 2004, pp. 1-10, (English abstract included).

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