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서재규(Jae Kyu Suhr),배광혁(Bea Kwanghyuk),정호기(Ho Gi Jung),김재희(Jaihie Kim) 대한전자공학회 2007 대한전자공학회 학술대회 Vol.2007 No.7
This paper proposes an algorithm for rejecting mismatched points (known as outliers). The proposed algorithm identifies and rejects outliers in image pairs obtained under automobile-like motions which consist of two translations and one rotation. The camera rotation is approximated to the image shift by assuming that the narrow field of lens is used. The voting method estimates the focus of expansion (FOE) while shifting one of the images. Using the properties of the FOE, the outliers are rejected while most of the inliers are retained.