SYSTEMS AND METHODS FOR CALCULATING EPIPOLAR CONSTRAINTS BETWEEN GENERALIZED CAMERAS

摘要

Methods and systems for calculating epipolar constraints between a plurality of generalized cameras are provided. Each generalized camera implements two pixel projection functions. One function converts a known pixel location into a ray emanating from a projection center of a first camera to a point on a feature at the pixel location. Another function converts a three dimensional point on the feature in Euclidean space to a pixel location on a projection of the feature in the image space of a second camera. Subsegments of along the ray are projected onto the image space of the second camera and are subdivided until each subsegment spans no more than one pixel in the second camera's image space. The endpoints of all subsegments are projected into the image space of the second camera and the discrete pixel locations of each subsegment are recorded to form epipolar zones.

主权项

1. A method for calculating epipolar constraints between a plurality of generalized cameras by a device that comprises an electronic circuit, the method comprising:
obtaining, by the electronic circuit, an image of a feature from each of a first and a second generalized camera; selecting, by the electronic circuit, a first pixel location on the first generalized camera image that corresponds to a point on the feature; determining, by the electronic circuit, a vector originating at a camera center of the first generalized camera and extending through the point on the feature based on the first pixel location; determining, by the electronic circuit, a segment of the vector that projects into the second generalized camera image by sampling two endpoints of the segment along the determined vector and projecting the segment onto the second generalized camera image; and determining, by the electronic circuit, an epipolar zone on the second generalized camera image based on the first pixel location of the first generalized camera image and the segment of the vector that projects into the second generalized camera image.