대한전자공학회:학술대회논문집 (Proceedings of the IEEK Conference)

대한전자공학회 (The Institute of Electronics and Information Engineers)
권호 표지

지능화 차량을 위한 오정합점 제거 방법

Outlier rejection in automobile-mounted NFOV camera

  • 서재규 (연세대학교 전기전자공학과) ;
  • 배광혁 (연세대학교 전기전자공학과) ;
  • 정호기 (연세대학교 전기전자공학과) ;
  • 김재희 (연세대학교 전기전자공학과)
  • Suhr, Jae-Kyu (School of Electrical and Electronic Engineering Yonsei University) ;
  • Bea, Kwang-Hyuk (School of Electrical and Electronic Engineering Yonsei University) ;
  • Jung, Ho-Gi (School of Electrical and Electronic Engineering Yonsei University) ;
  • Kim, Jai-Hie (School of Electrical and Electronic Engineering Yonsei University)
  • 발행 : 2007.07.11
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초록

This paper proposes an algorithm for rejecting mismatched points (known as outliers). The proposed algorithm identifies and rejects outliers in image pairs obtained under automobile-like motions which consist of two translations and one rotation. The camera rotation is approximated to the image shift by assuming that the narrow field of lens is used. The voting method estimates the focus of expansion (FOE) while shifting one of the images. Using the properties of the FOE, the outliers are rejected while most of the inliers are retained.

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