Fast line-segment extraction for semi-dense stereo matching

Brian McKinnon; Jacky Baltes

doi:10.1007/978-3-540-78157-8_5

Fast line-segment extraction for semi-dense stereo matching

Brian McKinnon^*, Jacky Baltes

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

This paper describes our work on practical stereo vision for mobile robots using commodity hardware. The approach described in this paper is based on line segments, since those provide a lot of information about the environment, provide more depth information than point features, and are robust to image noise and colour variations. However, stereo matching with line segments is a difficult problem due to poorly localized end points and perspective distortion. Our algorithm uses integral images and Haar features for line segment extraction. Dynamic programming is used in the line segment matching phase. The resulting line segments track accurately from one frame to the next, even in the presence of noise.

Original language	English
Title of host publication	Robot Vision - Second International Workshop, RobVis 2008, Proceedings
Pages	59-71
Number of pages	13
DOIs	https://doi.org/10.1007/978-3-540-78157-8_5
Publication status	Published - 2008
Externally published	Yes
Event	2nd International Workshop on Robot Vision, RobVis 2008 - University of Auckland, New Zealand Duration: 2008 Feb 18 → 2008 Feb 20

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	4931 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	2nd International Workshop on Robot Vision, RobVis 2008
Country/Territory	New Zealand
City	University of Auckland
Period	2008/02/18 → 2008/02/20

ASJC Scopus subject areas

Theoretical Computer Science
General Computer Science

Access to Document

10.1007/978-3-540-78157-8_5

Cite this

McKinnon, B., & Baltes, J. (2008). Fast line-segment extraction for semi-dense stereo matching. In Robot Vision - Second International Workshop, RobVis 2008, Proceedings (pp. 59-71). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4931 LNCS). https://doi.org/10.1007/978-3-540-78157-8_5

Fast line-segment extraction for semi-dense stereo matching. / McKinnon, Brian; Baltes, Jacky.
Robot Vision - Second International Workshop, RobVis 2008, Proceedings. 2008. p. 59-71 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4931 LNCS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

McKinnon, B & Baltes, J 2008, Fast line-segment extraction for semi-dense stereo matching. in Robot Vision - Second International Workshop, RobVis 2008, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 4931 LNCS, pp. 59-71, 2nd International Workshop on Robot Vision, RobVis 2008, University of Auckland, New Zealand, 2008/02/18. https://doi.org/10.1007/978-3-540-78157-8_5

@inproceedings{9dd42d260062472aac54478979685c2a,

title = "Fast line-segment extraction for semi-dense stereo matching",

abstract = "This paper describes our work on practical stereo vision for mobile robots using commodity hardware. The approach described in this paper is based on line segments, since those provide a lot of information about the environment, provide more depth information than point features, and are robust to image noise and colour variations. However, stereo matching with line segments is a difficult problem due to poorly localized end points and perspective distortion. Our algorithm uses integral images and Haar features for line segment extraction. Dynamic programming is used in the line segment matching phase. The resulting line segments track accurately from one frame to the next, even in the presence of noise.",

author = "Brian McKinnon and Jacky Baltes",

year = "2008",

doi = "10.1007/978-3-540-78157-8_5",

language = "English",

isbn = "3540781560",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

pages = "59--71",

booktitle = "Robot Vision - Second International Workshop, RobVis 2008, Proceedings",

note = "2nd International Workshop on Robot Vision, RobVis 2008 ; Conference date: 18-02-2008 Through 20-02-2008",

}

TY - GEN

T1 - Fast line-segment extraction for semi-dense stereo matching

AU - McKinnon, Brian

AU - Baltes, Jacky

PY - 2008

Y1 - 2008

N2 - This paper describes our work on practical stereo vision for mobile robots using commodity hardware. The approach described in this paper is based on line segments, since those provide a lot of information about the environment, provide more depth information than point features, and are robust to image noise and colour variations. However, stereo matching with line segments is a difficult problem due to poorly localized end points and perspective distortion. Our algorithm uses integral images and Haar features for line segment extraction. Dynamic programming is used in the line segment matching phase. The resulting line segments track accurately from one frame to the next, even in the presence of noise.

AB - This paper describes our work on practical stereo vision for mobile robots using commodity hardware. The approach described in this paper is based on line segments, since those provide a lot of information about the environment, provide more depth information than point features, and are robust to image noise and colour variations. However, stereo matching with line segments is a difficult problem due to poorly localized end points and perspective distortion. Our algorithm uses integral images and Haar features for line segment extraction. Dynamic programming is used in the line segment matching phase. The resulting line segments track accurately from one frame to the next, even in the presence of noise.

UR - http://www.scopus.com/inward/record.url?scp=49949101926&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=49949101926&partnerID=8YFLogxK

U2 - 10.1007/978-3-540-78157-8_5

DO - 10.1007/978-3-540-78157-8_5

M3 - Conference contribution

AN - SCOPUS:49949101926

SN - 3540781560

SN - 9783540781561

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 59

EP - 71

BT - Robot Vision - Second International Workshop, RobVis 2008, Proceedings

T2 - 2nd International Workshop on Robot Vision, RobVis 2008

Y2 - 18 February 2008 through 20 February 2008

ER -

Fast line-segment extraction for semi-dense stereo matching

Abstract

Publication series

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this