Systems and methods for relating images to each other by determining transforms without using image acquisition metadata

摘要

Systems and methods for relating images to each other by determining transform functions between the images and the three-dimensional world coordinate system of the object depicted in the image, without using image acquisition metadata are disclosed. Points of interest are independently selected on each image. An initial transform function is applied to transform the points in the plane of one image to the plane of the other image. A Gaussian Mixture Model is then iteratively applied to the points to determine a best match, which then provides adjustments to the argument values of the transform function which is again applied to the points of interest on each image. This process repeats until the argument values converge to provide the resulting transform function. The resulting function can then be used to identify objects in the images in three dimensional space.

主权项

1. A computer-implemented method comprising:
receiving a first and a second image of an object, the images taken from different locations; identifying the location of a set of points from the first image, the set of points indicating features of interest relative to a first image plane; identifying the location of a set of points from the second image, the set of points indicating features of interest relative to a second image plane; identifying argument values initially for a transform function, the transform function configured to map the location of the set of points relative to the first image plane to the location of the points relative to the second image plane; iteratively refining the transform function arguments; and outputting the transform function arguments.