Title :
Fast 3D feature extraction method for moving stereo
Author :
Jung, In-Hwan ; Choi, Won-Seok ; Oh, Se-young
Author_Institution :
Dept. of Electron. & Electr. Eng., Pohang Univ. of Sci. & Technol.(POSTECH), Kyungbuk, South Korea
Abstract :
This paper presents a method of extracting 3D feature information using a pinhole camera model. We use image pairs which are obtained by a single camera mounted on a robot that is moving through a simulated environment. We compare the computation time-result of singular value decomposition (SVD) and proposed method. We tested the result of a computation time on simulation as the camera moved. This proposed method reduces the computation time with preprocessing, and the reduction of computation time increases as the number of features and motions increase. This proposed method can be used to observe the environment of robot in real time.
Keywords :
cameras; feature extraction; image motion analysis; robot vision; singular value decomposition; stereo image processing; fast 3D feature extraction method; moving stereo; pinhole camera model; singular value decomposition; Cameras; Computational modeling; Data mining; Equations; Feature extraction; Matrix decomposition; Robot kinematics; Robot localization; Robot vision systems; Singular value decomposition; feature; moving stereo; pinhole camera; preprocessing; robot motion;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3
