JACIII Vol.19 No.2 pp. 319-329
doi: 10.20965/jaciii.2015.p0319


Still Corresponding Points Extraction Using a Moving Monocular Camera with a Motion Sensor

Toshihiro Akamatsu, Fangyan Dong, and Kaoru Hirota

Department of Computational Intelligence and Systems Science, Tokyo Institute of Technology
G3-49, 4259 Nagatsuta, Midori-ku, Yokohama 226-8502, Japan

June 15, 2014
December 28, 2014
Online released:
March 20, 2015
March 20, 2015
3D measurement, corresponding points classification, 6-axis motion sensor, moving monocular camera

The method of extracting still corresponding points proposed in this paper uses a moving monocular camera connected to a 6-axis motion sensor. It classifies corresponding points between two consecutive frames containing still/moving objects and chooses corresponding points appropriate for 3D measurement. Experiments are done extracting still corresponding points with 2 scenes from original computer graphics images. Results for scene 1 show that accuracy is 0.98, precision 0.96, and recall 1.00. Robustness against sensor noise is confirmed. Extraction experiment results with real scenes show that accuracy is 0.86, precision 0.88, and recall 0.94. We plan to include the proposed method in 3D measurement with real images containing still/moving objects and to apply it to obstacles avoidance for vehicles and to mobile robot vision systems.

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Last updated on Mar. 28, 2017