Patent ID: 6741757
Filing Date: 2004-05-25
Classification: G06K

Abstract:
A computer-implemented method for generating a fundamental matrix between a first image and a second image comprising:generating an image pyramid having a predetermined number of fineness levels, ordered in fineness from a coarsest level to a finest level; identifying significant features of each of the first and the second images at each of the levels of the image pyramid, using a feature detector; matching the significant features of the first image with the significant features of the second image at the coarsest level of the image pyramid, using a matching scorer; generating a first plurality of hypotheses for the fundamental matrix at the coarsest level of the image pyramid, based on the significant features of the first and the second images at the coarsest level as have been matched; setting a present level of the image pyramid as the coarsest level; repeating formulating an importance sampling function from the first plurality of hypotheses as has been most immediately generated; generating a second plurality of hypotheses for the fundamental matrix at the present level of the image pyramid, at random, based on the importance sampling function; advancing the present level down the image pyramid by one fineness level; generating the first plurality of hypotheses for the fundamental matrix at the present level of the image pyramid, based on the second plurality of hypotheses as has been most immediately generated and on the significant features of the first and the second images at the present level; until the present level of the image pyramid is at the finest level of the image pyramid, wherein the first plurality of hypotheses for the fundamental matrix finally generated at the finest level of the image pyramid represents the fundamental matrix between the first image and the second image.