发明名称 |
Enhanced outlier removal for 8 point algorithm used in camera motion estimation |
摘要 |
A method to filter outliers in an image-aided motion-estimation system is provided. The method includes selecting eight-image-points in a first image received from a moving imaging device at at least one processor; selecting eight-image-points in a second image that correspond to the selected eight-image-points in the first image at the at least one processor, the second image being received from the moving imaging device; scaling the selected image-points at the at least one processor so the components of the selected image-points are between two selected values on the order magnitude of 1; building an 8-by-9 matrix (A) from the scaled selected image-points at the at least one processor; determining a condition number for the 8-by-9 matrix at the at least one processor; and rejecting the 8-by-9 matrix built from the selected image-points when the determined condition number is greater than or equal to a condition-number threshold. |
申请公布号 |
EP2871611(A3) |
申请公布日期 |
2015.07.15 |
申请号 |
EP20140187219 |
申请日期 |
2014.09.30 |
申请人 |
HONEYWELL INTERNATIONAL INC. |
发明人 |
ELGERSMA, MICHAEL RAY;GANGULI, SUBHABRATA |
分类号 |
G06T7/00;G06T7/20 |
主分类号 |
G06T7/00 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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