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自动化学报 2005
一种鲁棒的基于两个特征点的深度估计方法, PP. 693-698 Keywords: Depthestimation,imagesequence,motionvision,mobilerobotnavigation Abstract: ？Thispaperpresentsanoveldepthestimationmethodbasedonfeaturepoints.Twopointsareselectedarbitrarilyfromanobjectandtheirdistanceinthespaceisassumedtobeknown.Theproposedtechniquecanestimatesimultaneouslytheirdepthsaccordingtotwoimagestakenbeforeandafteracameramovesandthemotionparametersofthecameramaybeunknown.Inaddition,thispaperanalyzesthewaystoenhancetheprecisionoftheestimateddepthsandpresentsafeaturepointimagecoordinatessearchalgorithmtoincreasetherobustnessoftheproposedmethod.Thesearchalgorithmcanfindautomaticallymoreaccurateimagecoordinatesofthefeaturepointsbasedontheirdetectedimagecoordinates.Experimentalresultsdemonstratetheefficiencyofthepresentedmethod.
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