Patent ID: 9626761
Date: 2017-04-18
CPC Classifications: G06K,G06T

Claim:
1. A sampling method for estimating a homography matrix that represents conversion correlations between pluralities of images by means of Constraint Satisfaction-Random Sample Consensus (CS-RANSAC), the method comprising: sampling, to divide an input image into a form of grids (N by N), select features, which are used for calculating a homography matrix, from features, which are abstracted from the input image, by means of a random sampling, and inspect whether the features selected by the random sampling satisfy constraints, wherein the sampling is configured to dynamically apply grid sizes in accordance with a distribution pattern of the features abstracted from the input image; executing model estimation to calculate the homography matrix from the features only if the selected features satisfy the constraints; and determining a position of an object in the input image based on the executed model estimating locations of the selected features in the input image relative to the abstracted features in the input image.