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스테레오 비전을 이용한 시트 메탈의 특징점 검출 및 측정
정건화(KeonHwa Jung),김한솔(Hansol Kim),장민호(Minho Chang),김준호(Junho Kim) (사)한국CDE학회 2012 한국 CAD/CAM 학회 학술발표회 논문집 Vol.2012 No.2
In general, pressed sheet metal is used for assemble car body. This sheet metal has various holes or convex on planes and they affect to extract feature points by detecting edges. There are two dimensions to find feature points. One is 2D image plane and another is 3D depth map. With calibrated stereo vision system, we can create a depth map by epipolar geometry. Feature points which are detected on 2D image have good accuracy but no robustness from noises so there are miss-extracted feature points on it. On the other hand, feature points which are detected on 3D depth map are robust to noises relatively. We purpose filtering miss-extracted feature points on 2D image by referring feature points on 3D depth map.