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 proceedingConference contribution

1 Citation (Scopus)


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 languageEnglish
Title of host publicationRobot Vision - Second International Workshop, RobVis 2008, Proceedings
Number of pages13
Publication statusPublished - 2008
Externally publishedYes
Event2nd International Workshop on Robot Vision, RobVis 2008 - University of Auckland, New Zealand
Duration: 2008 Feb 182008 Feb 20

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume4931 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other2nd International Workshop on Robot Vision, RobVis 2008
Country/TerritoryNew Zealand
CityUniversity of Auckland

ASJC Scopus subject areas

  • Theoretical Computer Science
  • General Computer Science


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