Robust recognition of planar mirrored walls using a single view
Robust recognition of planar mirrored walls using a single view
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使用单一视图对平面镜面墙进行鲁棒识别
DOI：
10.1109/icra.2011.5980211
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
Dezhen Song
中科院分区：
文献类型：
--
作者：
Ali;Dezhen Song
提出了一种基于单目摄像机图像的大型平面镜检测与识别方法。我们首先推导出一个镜像变换矩阵在齐次坐标和几何约束相应的真实的和虚拟的特征点的图像。我们发现，现有的特征检测方法不是反射不变的。我们引入一个二次人工反射的虚拟功能，以产生二次功能，被证明是共享的刚体运动与原始功能集的关系。我们提出了一种迭代策略来调整次镜配置，以便可以使用现有的特征匹配方法。结合方法产生了一个强大的镜像检测算法，已在物理实验中得到验证。
We report a method for the detection and recognition of a large planar mirror based on the images captured by a monocular camera. We start with deriving a mirror transformation matrix in a homogeneous coordinate and geometric constraints for corresponding real and virtual feature points in the image. We find that existing feature detection methods are not reflection invariant. We introduce a secondary artificial reflection to virtual features to generate secondary features which are proven to share a rigid body motion relationship with the original feature set. We propose an iterative strategy to adjust the secondary mirror configuration so that existing feature matching methods can be used. The combined method yields a robust mirror detection algorithm which has been verified in physical experiments.