Motion estimation in image sequences using the deformation ofapparent contours

The problem of determining the camera motion from apparent contours or silhouettes of a priori unknown curved 3D surfaces is considered. In a sequence of images, it is shown how to use the generalized epipolar constraint on apparent contours. One such constraint is obtained for each epipolar tangency point in each image pair. An accurate algorithm for computing the motion is presented based on a maximum likelihood estimate. It is shown how to generate initial estimates on the camera motion using only the tracked contours. It is also shown that in theory the motion can be calculated from the deformation of a single contour. The algorithm has been tested on several real image sequences, for both Euclidean and projective reconstruction. The resulting motion estimate is compared to motion estimates calculated independently using standard feature-based methods. The motion estimate is also used to classify the silhouettes as curves or apparent contours. The statistical evaluation shows that the technique gives accurate and stable results     

Stereo by incremental matching of contours

Contours made of sequences of adjacent edge points are used as primitives in stereo pair matching. Matching contour segments, rather than the traditional epipolar edge points, can greatly reduce possible ambiguity. This is done by reformulating point-matching constraints to apply to contour matching, and by introducing a unique incremental matching scheme. Best-matched contours are paired first, constraining through neighborhood support their neighboring contours. Examples of the proposed stereo matching scheme are shown, with very few errors, for aerial images of natural terrain     

一种运动捕获系统中误匹配点的剔除算法*

在特征点的提取阶段通过利用先验知识的迭代法得到二值化阈值,然后依据轮廓特征排除非特征点。对于特征点的匹配,首先根据极线约束得到初始候选点对,再通过松弛匹配算法和三角测量法剔出误匹配,得到最终的匹配点对;最后利用以上匹配算法给出了一种简便的多摄像机间特征点匹配的策略。实验结果表明算法匹配正确率高。     

基于灰度差分不变量的点特征匹配

本文提出了一种新的基于灰度差分不变量的点特征匹配方法。首先，利用灰度差分不变量获得点集之间的初始匹配；然后，利用初始匹配快速、稳健地估计图象之间的唯一几何约束－对极几何约束；最后，利用对极几何约束改进初始匹配。大量的实际图象实验表明，本文所提出的匹配算法有非常快的运算速度和很高的匹配正确率。     

Matching two perspective views

A computational approach to image matching is described. It uses multiple attributes associated with each image point to yield a generally overdetermined system of constraints, taking into account possible structural discontinuities and occlusions. In the algorithm implemented, intensity, edgeness, and cornerness attributes are used in conjunction with the constraints arising from intraregional smoothness, field continuity and discontinuity, and occlusions to compute dense displacement fields and occlusion maps along the pixel grids. The intensity, edgeness, and cornerness are invariant under rigid motion in the image plane. In order to cope with large disparities, a multiresolution multigrid structure is employed. Coarser level edgeness and cornerness measures are obtained by blurring the finer level measures. The algorithm has been tested on real-world scenes with depth discontinuities and occlusions. A special case of two-view matching is stereo matching, where the motion between two images is known. The algorithm can be easily specialized to perform stereo matching using the epipolar constraint     

基于图割理论和极几何约束的图像匹配算法

提出了一种基于图割理论和极几何约束的图像匹配算法。利用极几何约束对两幅待匹配图像进行矫正，使得它们的极线处在同一扫描线上，从而将二维匹配简化成一维匹配；利用基于图割的一维匹配算法获取视差数据，此时匹配中能量函数的标号是一维的，大大减少了搜索范围，并且提高了匹配的速度。     

自适应窗口的时间规整立体匹配算法

针对立体视觉中图像对应点的误匹配问题,以时间规整算法(DTW)为基础,提出了自适应窗口的立体匹配算法．根据外极线的约束,在自适应窗口内采用灰度相关技术得到长度不相等的两个灰度段作为相容的匹配序列;利用动态规划法及连续性约束寻找一条最佳的匹配路径．根据回溯得到的匹配路径及其坐标值得到高密度视差图．实验结果表明,该算法具有较高的运行效率和良好的匹配效果．     

二维非规则碎片匹配的算法

提出了一种基于曲率相似性的二维碎片轮廓匹配算法。该算法根据碎片轮廓上各点的曲率值来确定轮廓上的特征点，按照特征点对轮廓进行分段，将二维碎片的匹配简化为特征段的相似性度量与可匹配性验证。对可匹配的轮廓段进行欧氏变换以拼合两个轮廓曲线，自动地检测在当前变换下两个轮廓是否有重叠情况存在。没有重叠的两个轮廓组合起来更新为一个新的轮廓，进行再匹配直至重建过程完成。实例表明，算法是有效、稳定的。     

基于三视图约束的基础矩阵估计

考虑到只依赖对极几何关系的匹配点余差并不能完全区分匹配点的正确与否,从而影响内点集选取的情况,提出基于三视图约束的基础矩阵估计算法。首先,使用传统随机抽样一致性（RANSAC）算法计算三视图的任意两对相邻图像间的基础矩阵,确定三视图中共有的匹配点对,并计算估计基础矩阵时非共用图像上的匹配点在共用图像上的极线;然后,计算两条极线的交点与共用图像上对应匹配点间的距离,以距离值的大小作为内点判断的依据,得到新的内点集。在新内点集的基础上,采用M估计算法重新计算基础矩阵。实验结果表明：该方法可以同时降低噪声和错误匹配对基础矩阵精确计算的影响,精度优于传统鲁棒性算法,使点到极线的距离限制在0.3个像素左右,而且计算结果具有稳定性,可以被广泛地应用到基于图像序列的三维重建和摄影测量等领域中。     

基于摄像机纵向运动的序列图像的实时漫游

对于摄像机纵向运动的序列图像，提出了一种基于极线几何约束关系的当前视点目标图像生成算法：1）利用基于傅立叶变换的方法，得到远视点源图像中和近视点源图像无对应点的区域，并用一种背景色将其填充，得到填充后的远视点源图像；2）利用极线的整体匹配性质在两幅源图像中确定遍历整个源图像的对应源极线；3）将所有对应源极线按灰度进行分段；4）用动态规划匹配法确定对应源极线上段与段之间的匹配关系；5）通过两条对应源极线插值合成一条目标极线，生成当前视点的目标图像；6）对上一步得到的目标图像的背景色区域加以处理，得到最终的当前视点目标图像．提出了一种链表数据结构存储每相邻两幅源图像之间的预处理信息．漫游时实时读取．开发了一个图像漫游器，使用户能在其中实现不同视点的实时漫游．     

基于3D-ICT图像的涡轮叶片形面点云高精度提取技术

为了高精度提取涡轮叶片内外形面点云数据,提出了基于叶片3D-ICT图像的轮廓追踪方法.对轮廓追踪与细化过程中出现的干扰环、孤立点、轮廓片断的处理进行了分析;为了进一步提高轮廓追踪的精度,利用矩匹配方法进行二次追踪,使得轮廓坐标精度达到亚像素级.实验结果表明,该方法可以得到叶片内外形面有序、密集的高精度点云数据.     

一种基于Hopfield网络的立体匹配方法

立体匹配是计算机视觉研究的经典难题，其算法的复杂度和精度直接影响了视觉系统对外部景物的重建性能。为此提出了一种新的基于神经网络的立体匹配方法，其基本思想是：在实现核线重排的前提下，利用唯一性、相容性以及相似性等匹配约束条件，建立反映对应极线间所有匹配点约束关系的能量函数，将其映射到二维Hopfield网络进行极小化求解，网络最后的稳态表示匹配点的对应关系；通过对图中所有极线进行上述操作，可以得到所求的视差图。与传统方法相比，本算法具有两个明显的特点：(1)匹配基元采用了普通的图像点，可以直接获得稠密的深度图；(2)Hopfield网的外部输入不再为常数，而是一个反映对应点灰度相似性关系的值。通过对合成图以及真实图景进行测试，验证了该方法的有效性。     

Constraint-based Correspondence Matching for Stereo-based Interactive Robotic Massage Machine

Locating the 3D positions of the points on the human back is an essential issue in stereo-based interactive robotic back massage machines. In stereoscopic 3D localization, the 3D positions are determined from the corresponding image points captured by calibrated stereo cameras. However, detecting these corresponding points on the human back is highly challenging due to the smooth and texture-less characteristics of human skin. In the present study, this problem is resolved by means of a novel correspondences detection scheme designated as Correspondences from Epipolar geometry and Contours via Triangle barycentric coordinates (CECT). In the proposed approach, reliable correspondences are extracted from the edge contours of the human back by applying epipolar geometry, and these correspondences are then used to compute the correspondences of the featureless points within the edge contour using a triangle barycentric coordinate approach. The accuracy and robustness of the estimated correspondences are ensured by applying three geometric constraints, namely a similarity constraint, a shape constraint and an epipolar constraint. The performance of the proposed approach is demonstrated by means of a series of experiments involving 28 subjects and four different testing conditions. In addition, the accuracy of the proposed localization scheme is evaluated by comparing the estimated 3D positions with those obtained using the cun-based measurement method in Traditional Chinese Medicine (TCM).     

Matching point features with ordered geometric, rigidity, anddisparity constraints

This correspondence presents a matching algorithm for obtaining feature point correspondences across images containing rigid objects undergoing different motions. First point features are detected using newly developed feature detectors. Then a variety of constraints are applied starting with simplest and following with more informed ones. First, an intensity-based matching algorithm is applied to the feature points to obtain unique point correspondences. This is followed by the application of a sequence of newly developed heuristic tests involving geometry, rigidity, and disparity. The geometric tests match two-dimensional geometrical relationships among the feature points, the rigidity test enforces the three dimensional rigidity of the object, and the disparity test ensures that no matched feature point in an image could be rematched with another feature, if reassigned another disparity value associated with another matched pair or an assumed match on the epipolar line. The computational complexity is proportional to the numbers of detected feature points in the two images. Experimental results with indoor and outdoor images are presented, which show that the algorithm yields only correct matches for scenes containing rigid objects     

基于SIFT二次匹配方法的同名像点识别

将尺度不变特征变换（SIFT）二次匹配方法用于IRS-P5立体像对的同名像点识别。引入全局几何约束与唯一性约束,剔除误匹配,获取用于初始定位的匹配样本,完成初始匹配。根据初始定位点,获取小区域子图像,在小区域内调整SIFT匹配阈值,在唯一性约束基础上,引入偏移坐标差值约束,完成二次匹配。通过实验验证,相比于将SIFT算法直接应用于遥感影像同名像点识别,SIFT特征二次匹配算法在严格阈值下,匹配对数可增长23.07倍,可获取更密集可靠的同名像点。     

基于最大权团的曲面粗匹配算法

提出一种将曲面匹配问题转化为图论中的最大权团搜索问题、将最优的点对应关系用最大权团表示的曲面粗匹配算法,该算法分为点匹配、点对应图构造和最大权团生成等3个阶段.点匹配使用高曲率点和均匀采样点作为候选点,通过自旋图进行匹配计算,构造初始点对应集合;点对应图构造使用距离约束、法矢约束和唯一性约束构造图的边,并使用自旋图相关系数为顶点赋权值;最大权团生成使用基于分支限界的团搜索算法,从对应点图中提取出代表最优对应的最大权团.实验结果表明,文中算法稳定、有效、可扩展,能够进行部分曲面匹配,并且适用于欠特征曲面.     

基于SIFT特征和对极几何约束的图像配准算法

基于SIFT（尺度不变特征变换）特征匹配思想,提出了一种应用对极几何约束的图像特征配准算法。首先对图像提取SIFT特征点,然后通过欧氏距离估算对SIFT特征描述子进行初始匹配得到预匹配点集;采用基于单应矩阵的抽样算法计算初始基础矩阵,通过RANSAC算法计算精确的基础矩阵和匹配点集,进而实现图像配准。实验表明,该算法可以获得更准确的匹配点,得到精度较高的图像配准效果。     

Multiple Contour Finding and Perceptual Grouping using Minimal Paths

We address the problem of finding a set of contour curves in an image. We consider the problem of perceptual grouping and contour completion, where the data is a set of points in the image. A new method to find complete curves from a set of contours or edge points is presented. Our approach is based on a previous work on finding contours as minimal paths between two end points using the fast marching algorithm (L. D Cohen and R. Kimmel, International Journal of Computer Vision, Vol. 24, No. 1, pp. 57–78, 1997). Given a set of key points, we find the pairs of points that have to be linked and the paths that join them. We use the saddle points of the minimal action map. The paths are obtained by backpropagation from the saddle points to both points of each pair.In a second part, we propose a scheme that does not need key points for initialization. A set of key points is automatically selected from a larger set of admissible points. At the same time, saddle points between pairs of key points are extracted. Next, paths are drawn on the image and give the minimal paths between selected pairs of points. The set of minimal paths completes the initial set of contours and allows to close them. We illustrate the capability of our approach to close contours with examples on various images of sets of edge points of shapes with missing contours.     

Generalised Epipolar Constraints

In this paper we will discuss structure and motion problems for curved surfaces. These will be studied using the silhouettes or apparent contours in the images. The problem of determining camera motion from the apparent contours of curved three-dimensional surfaces, is studied. It will be shown how special points, called epipolar tangency points or frontier points, can be used to solve this problem. A generalised epipolar constraint is introduced, which applies to points, curves, as well as to apparent contours of surfaces. The theory is developed for both continuous and discrete motion, known and unknown orientation, calibrated and uncalibrated, perspective, weak perspective and orthographic cameras. Results of an iterative scheme to recover the epipolar line structure from real image sequences using only the outlines of curved surfaces, is presented. A statistical evaluation is performed to estimate the stability of the solution. It is also shown how the motion of the camera from a sequence of images can be obtained from the relative motion between image pairs.     

神经网络方法应用于轮廓定位

关于从图像中定位物体轮廓的问题,目前所采用的活动轮廓模型和基于自组织神经网络的算法,存在能量泛函优化容易陷入局部极值和演化过程依赖于初始轮廓的选取等问题。提出了一种基于RBF神经网络的轮廓定位算法。首先,通过自适应梯度阈值方法来获取图像特征点。然后,通过特征点的聚类建立一组基函数,把图像像素点的像素值和梯度构造输入向量空间,在网络权值训练完成后,利用网络的预测功能来准确判断物体轮廓。与传统算法相比,仿真结果表明提出的轮廓定位算法可以高效地实现目标轮廓定位。