Scale invariant line matching on the sphere

Dieu-Sang Ly (1) , Cédric Demonceaux (2) , Ralph Seulin (2) , Yohan Fougerolle (2)

1 CMM - Centre de Morphologie Mathématique
2 Le2i - Laboratoire Electronique, Informatique et Image [UMR6306]

This paper proposes a novel approach of line matching across images captured by different types of cameras, from perspective to omnidirectional ones. Based on the spherical mapping, this method utilizes spherical SIFT point features to boost line matching and searches line correspondences using an affine invariant measure of similarity. It permits to unify the commonest cameras and to process heterogeneous images with the least distortion of visual information.

Mots clés: Time to contact; omnidirectional vision; obstacle avoidance; collision detection; mobile robotic.

Mots clés: mobile robotic

Domaines: Traitement du signal et de l'image [eess.SP]; Traitement du signal et de l'image [eess.SP]

Dieu-Sang Ly, Cédric Demonceaux, Ralph Seulin, Yohan Fougerolle. Scale invariant line matching on the sphere. IEEE International Conference on Image Processing, ICIP'2013, Sep 2013, Melbourne, Australia. ⟨hal-00830884⟩