Point correspondence over a long sequence of image frames

Qinfen Zheng; Rama Chellappa

doi:10.1117/12.155093

3 September 1993 Point correspondence over a long sequence of image frames

Qinfen Zheng, Rama Chellappa

Proceedings Volume 1956, Sensor Fusion and Aerospace Applications; (1993) https://doi.org/10.1117/12.155093
Event: Optical Engineering and Photonics in Aerospace Sensing, 1993, Orlando, FL, United States

Abstract

An automatic ego motion compensation based point correspondence algorithm is presented. A basic problem in autonomous navigation and motion estimation is automatically detecting and tracking features over consecutive frames, a challenging problem when the camera motion is significant. In general, feature displacement over consecutive frames can be approximately decomposed into two components: (i) the displacement due to camera motion which can be compensated by image rotation, scaling, and translation; (ii) the displacement due to object motion and/or perspective projection. In this paper, we introduce a two step approach: First, the motion of the camera is estimated using a computational vision based image registration algorithm. Then consecutive frames are transformed to the same coordinate system and the feature correspondence problem is solved as one of tracking moving objects using a still camera. Methods for subpixel accuracy feature matching and tracking are introduced. The approach results in a robust and efficient algorithm. Results on several real image sequences are presented.

Citation Download Citation

Qinfen Zheng and Rama Chellappa "Point correspondence over a long sequence of image frames", Proc. SPIE 1956, Sensor Fusion and Aerospace Applications, (3 September 1993); https://doi.org/10.1117/12.155093

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