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Yoshitaka YAMAUCHI,Hiroshi TAKEMURA,Satoshi KAGAMI,Hiroshi MIZOGUCHI 대한전자공학회 2009 ITC-CSCC :International Technical Conference on Ci Vol.2009 No.7
This paper describes the calculation method of the optimal BBF threshold by performing a simulation which using the background image, a real object image and a 3D model image. The background image is captured by a mobile robot camera, and the object image is also captured by the same camera. As a result of the simulation, we confirmed that more inliers could be passed than the conventional threshold, in case SIFT keypoints are the poses of the model extracted.