Spherical feature extraction method

A feature extraction and feature point technology, applied in the field of computer vision, can solve problems such as unsuitable processing speed, robustness defects, and high computational complexity of spherical harmonic functions, and achieve real-time detection and description, good robustness, and calculation speed fast effect

Active Publication Date: 2014-12-17
TIANJIN UNIV
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Problems solved by technology

However, due to the relatively high computational complexity of spherical harmonic functions, such methods are not suitable for applications that require strict processing speed, such as SLAM (Simultaneous Localization And Mapping, simultaneous positioning and map construction), etc.
At the same time, due to the bandwidth constraints of the spherical harmonic function, this method also has certain shortcomings in terms of robustness

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Embodiment Construction

[0024] In order to make the purpose, technical solution and advantages of the present invention clearer, the implementation manners of the present invention will be further described in detail below.

[0025] The invention proposes a new technology for fast and robust spherical feature extraction. Different from the prior art, the present invention is based on the uniform parameterized representation method of the spherical surface, and uses gray value comparison in the spherical domain to detect and describe the feature points, which not only speeds up the feature extraction speed, but also effectively improves the algorithm robustness. The present invention belongs to the field of computer vision and involves three parts: uniform parameterized representation of spherical images, spherical image feature detection, and spherical image feature description and matching. See the following description for details:

[0026] 101: Obtain a spherical image represented by a uniform pa...

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Abstract

The invention discloses a spherical feature extraction method, and relates to the field of computer vision. The method comprises the following steps: acquiring a spherical image which is represented in a uniformly parametric manner through a geodesic grid; performing FAST (Features from Accelerated Segment Test) feature detection on the spherical image; and processing filtered feature points through a spherical image feature point description algorithm for image gray value comparison to obtain descriptors of the filtered feature points. The method is high in computing speed, and spherical features can be detected and described in real time. Compared with an existing spherical feature extraction algorithm and a method based on local planar projection, the method disclosed by the invention has high algorithm robustness. The robustness of the method is reflected in case of rotation and movement of a camera.

Description

technical field [0001] The present invention relates to the field of computer vision, in particular to a spherical feature extraction method. As a basic technology in the field of computer vision, the present invention can be used for panorama stitching, image retrieval based on spherical images, and three-dimensional reconstruction based on large-view images. Background technique [0002] With the maturity of image stitching technology and the development of panoramic cameras, non-professional users can also use their own equipment to collect spherical panoramic data. Due to the wider field of view, spherical panoramic images are increasingly used in systems such as virtual reality, roaming navigation, change detection, and scene reconstruction. With the popularity of spherical images, how to extract features from spherical panoramic images has become a topic of increasing concern to researchers. [0003] (1) ORB (Oriented FAST and Rotated BRIEF) feature (see literature [1...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T15/10
Inventor 万亮冯伟张加万赵强
Owner TIANJIN UNIV
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