STRUCTURED LIGHT MATCHING OF A SET OF CURVES FROM TWO CAMERAS

摘要

A method for matching points between two images of a scene acquired by two cameras, the method including: extracting blobs from the reflection in the images and individually labelling the blobs with a unique identifier; selecting a selected epipolar plane and defining a conjugate epipolar line on each of the images; identifying plausible combinations including a light sheet label of the projected pattern and the unique identifier for a plausible blob selected from the blobs in each of the images; calculating a matching error for each of the plausible combinations; repeating the steps of selecting, identifying and calculating for at least some epipolar planes; determining a most probable combination by computing a figure of merit for the plausible combinations; identifying matching points in the frame from the most probable combination.

主权项

1. A computer-implemented method performed by at least one computer processor for matching points between two images of a scene, the method including:
retrieving two images acquired by a sensor, said two images forming a frame captured at a single relative position between the scene and the sensor, said images each containing a reflection of a projected pattern on said scene; extracting blobs from said reflection in said images and individually labelling said blobs with a unique identifier; selecting a selected epipolar plane from a set of epipolar planes and defining a conjugate epipolar line on each of said images; identifying plausible combinations, said plausible combinations including a light sheet label of said projected pattern and said unique identifier for a plausible blob selected from said blobs in each of said images, said plausible blob crossing the conjugate epipolar line; calculating a matching error for each of the plausible combinations; repeating said steps of selecting, identifying and calculating for each epipolar plane of said set of epipolar planes; determining a most probable combination by computing a figure of merit for said plausible combinations using said matching error for each epipolar plane of said set of epipolar planes; identifying matching points in said frame from said most probable combination; generating an output identifying said matching points in said frame.