Fast line-segment extraction for semi-dense stereo matching

Brian McKinnon*, Jacky Baltes

*此作品的通信作者

研究成果: 書貢獻/報告類型會議論文篇章

摘要

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.

原文英語
主出版物標題Robot Vision - Second International Workshop, RobVis 2008, Proceedings
頁面59-71
頁數13
DOIs
出版狀態已發佈 - 2008
對外發佈
事件2nd International Workshop on Robot Vision, RobVis 2008 - University of Auckland, 新西兰
持續時間: 2008 二月 182008 二月 20

出版系列

名字Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
4931 LNCS
ISSN(列印)0302-9743
ISSN(電子)1611-3349

其他

其他2nd International Workshop on Robot Vision, RobVis 2008
國家/地區新西兰
城市University of Auckland
期間2008/02/182008/02/20

ASJC Scopus subject areas

  • 理論電腦科學
  • 電腦科學(全部)

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