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Tracking planes in the city

In relation to tracking cityscape I did some planar segmentation test. Segmented FAST generated corners with simple 5-points projective invariant.
In some cases 5-point give some rough approximation:
planar segments
In some cases outliers are quite bad – some point have very close projective invariant but still are in diffferent planes.
bad seggment
So simple method not quite work…

19, March, 2009 Posted by | Coding AR, computer vision | , , , , , , , , , | 4 Comments