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一种鲁棒的基于两个特征点的深度估计方法 被引量:1

A Robust Two Feature Points Based Depth Estimation Method
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摘要 This paper presents a novel depth estimation method based on feature points. Two points are selected arbitrarily from an object and their distance in the space is assumed to be known.The proposed technique can estimate simultaneously their depths according to two images taken before and after a camera moves and the motion parameters of the camera may be unknown. In addition, this paper analyzes the ways to enhance the precision of the estimated depths and presents a feature point image coordinates search algorithm to increase the robustness of the proposed method.The search algorithm can find automatically more accurate image coordinates of the feature points based on their detected image coordinates. Experimental results demonstrate the efficiency of the presented method. This paper presents a novel depth estimation method based on feature points. Two points arc selected arbitrarily from an object and their distance in the space is assumed to be known. The proposed technique can estimate simultaneously their depths according to two images taken before and after a camera moves and the motion parameters of the camera may be unknown. In addition, this paper analyzes the ways to enhance the precision of the estimated depths and presents a feature point image coordinates search algorithm to increase the robustness of the proposed method. The search algorithm can find automatically more accurate image coordinates of the feature points based on their detected image coordinates. Experimental results demonstrate the efficiency of the presented method.
出处 《自动化学报》 EI CSCD 北大核心 2005年第5期693-698,共6页 Acta Automatica Sinica
基金 国家重点基础研究发展计划(973计划)
关键词 鲁棒 特征点 深度估计 运动参数 搜索算法 自动控制 Depth estimation, image sequence, motion vision, mobile robot navigation
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