To cater for image regions containing texture and isolated features a combined corner and edge detector based on the local autocorrelation function is utilised and it is shown to perform with good consistency on natural imagery INTRODUCTIO Th proble ID: 8974
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& of image edge filtering is of prime importance 3D interpretation of image sequences using feature algorithms. To cater for image regions containing and isolated features, a combined corner and edge based on the local auto-correlation function is it is shown to perform with good consistency natural imagery. will a a a a a a a richer a a will 1. Pair of images from an outdoor sequence. a a - a (ie. 2 a a a 2. Unlinked Canny edges for the outdoor images 3. Linked Canny edges for the outdoor images a a a a a a a A a E a w a d 4. Corner detection on a test image a & a a X + + first = E = + = a a = E E = M C B = E M P a will a 5. Auto-correlation principal curvature space- lines give corner/edge/flat classification, lines are equi-response contours. will P a P A will a p a a P a p will a p for a a a P thus = = = - = - k R fine R region, regions, flat region. 6. Edge/corner classification for the outdoor images = corner = 7. Completed edges for the outdoor images flat a a to x y x y thus a will a J © C G & J M Positional Integration Image Sequences, D & R J Reconstruction Outdoor Image Sequences, M J & C G Wire-Frame from Image Sequences, N & F and Reliable Passive Stereovision, J Edges and Lines in Images, Avoidance and Navigation in the World by a Seeing Robot Rover, P Invariant Image Operators, Corner