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주파수 영역에서 두 개의 이미지 간의 상대적인 회전각 추정
이덕우(Deokwoo Lee),나진희(Jinhee Na) 한국자동차공학회 2017 한국자동차공학회 학술대회 및 전시회 Vol.2017 No.11
This paper proposes the approaches to estimation of relative rotation between a pair of images based on the properties of Fourier Transform of a 2-dimensional image. Alternative to finding homography using epipolar geometry of feature points sampled from a pair of images, an amount of rotation is estimated by analyzing the images in frequency domain under the assumption that camera intrinsic parameters are known. A pair of images are used to obtain extrinsic parameters of stereo camera and the proposed approach can be applied to the calibration of a camera and rectification of a pair of stereo images in practice. In addition, the proposed method estimates rotation so that left and right images of a stereo camera can provide information about relative depth (or disparity) of a scene.