Linear fitting with missing data: applications to structure-from-motion and to characterizing intensity images
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United States of America Patent
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Dec 28, 1999
Grant Date -
N/A
app pub date -
Jan 6, 1998
filing date -
Mar 25, 1997
priority date (Note) -
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status (Latency Note)
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Abstract
A method for generating a complete scene structure from a video sequence that provides incomplete data. The method has a first step of building a first matrix consisting of point locations from a motion sequence by acquiring a sequence of images of a fixed scene using a moving camera; identifying and tracking point features through the sequence; and using the coordinates of the features to build the first matrix with some missing elements where some features are not present in some images. In a second step an approximate solution is built by selecting triples of columns from the first matrix; forming their nullspaces into a second matrix; and taking the three smallest components of the second matrix. In a third step, an iterative algorithm is applied to the three smallest components to build a third matrix and to improve the estimate. Lastly, in a fourth step the third matrix is decomposed to determine the complete scene structure. Another aspect of the present invention are apparatus' for generating a complete scene structure from a video sequence that provides incomplete data utilizing the methods of the of the present invention.
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Patent Citation Ranking
- 12 Citation Count
- G06K Class
- 22.66 % this patent is cited more than
- 26 Age