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This paper presents results from experiments on visual stereo matching for robot navigation. Visual features are stereo paired with respect to their pixel position. Stereo triangulating all paired visual features results in a set of landmarks whereof a subset are true landmarks. Constraining the horizontal disparity limits the amount of spurious matches. The stereo matching is validated by finding...
Current approaches to feature detection and matching in images strive to increase the repeatability of the detector and minimize the degree of outliers in the matching. In this paper we present a new approach; we suggest that a lower performance feature detector can produce a result more than adequate for robot navigation irrespectively of the amount of outliers. By using an FPGA together with two...
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