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In this paper a visual Simultaneous Localization and Mapping (SLAM) algorithm suitable for indoor area measurement applications is proposed. The algorithm is focused on computational effectiveness. The only sensor used is a stereo camera placed onboard a moving robot. The algorithm processes the acquired images calculating the depth of the scenery, detecting occupied areas and progressively building...
We present an alternative approach to address correspondence in computational stereo. Accurate correspondence between two 2D images is required to determine depth, which leads to 3D model generation. To achieve this, optimized noise reduction method and accurate edge detection are required for preprocessing, followed by extracting the contours from the edge detection output and detecting the correspondence...
This paper presents a method for improving the disparity values obtained with a stereo camera by applying an iconic Kalman filter and known ego-motion. The improvements are demonstrated in an application of determining the free space in a scene as viewed by a vehicle-mounted camera. Using disparity maps from a stereo camera and known camera motion, the disparity maps are first filtered by an iconic...
Virtual view synthesis is an important technique for multi-view 3D display. This makes that multi-view images for 3D display can be created by only two-view images. An efficient virtual view synthesis method was proposed based on disparity map and image interpolation. An adaptive weight stereo matching approach was adopted to obtain the initial disparity map. Cross-checking technique was utilized...
We describe a novel framework for calculating dense, accurate elevation maps from stereo, in which the height of each point in the scene is estimated relative to the ground plane. The key to our framework's ability to estimate elevation accurately is an MRF formulation of stereo that directly represents elevation at each pixel instead of the usual disparity. By enforcing smoothness of elevation rather...
This paper addresses the problem of threedimensional reconstruction and how the geometry of the stereo vision system affects the quality of such a reconstruction. We have considered the general case of non calibrated cameras with approximately known intrinsic parameters. The latter could be known either from previous experiments or from the manufacturer's specifications. In particular, the paper aims...
In this paper, the problem of obtaining calibration parameters for a stereo camera system is considered. A real coded genetic algorithm is used to solve this problem. The solution of extrinsic and intrinsic parameters of the left and right cameras are encoded in the vectors of real numbers. The Laplace crossover and power mutation operators are used to obtain next generation of the solutions. The...
Intermediate view synthesis is an important step for Multi-view 3D displays. In this paper we have proposed an intermediate view synthesis approach, which is based on stereo matching process. This makes that multi-view images can be created by only the two-view images, which are captured by two-view camera(stereo camera).In order to obtain accurate disparity map for intermediate view synthesis, Belief...
This paper presents a real-time multi-view stereo algorithm, which is based on local winner-take-all optimization. When computing the disparity maps for a given view, the algorithm performs 3 steps: cost volume generation, cost volume merging, and disparity selection. The main focus of this paper is on the second step and a new cost volume merging method is proposed, which combines the adaptive weight...
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