Reliable depth map regeneration via a novel omnidirectional stereo sensor
文献类型：会议论文
| 作者 | He L(何雷) ; Luo CJ(罗川江); Geng YF(耿彦峰); Zhu F(朱枫); Hao YM(郝颖明)
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| 出版日期 | 2007 |
| 会议名称 | 3rd International Symposium on Visual Computing |
| 会议日期 | November 26-28, 2007 |
| 会议地点 | Lake Tahoe, NV |
| 页码 | 278-287 |
| 中文摘要 | We present a method to obtain dense 3D maps for a mobile robot that is equipped with a novel omnidirectional stereo vision sensor. The vision sensor is composed of a perspective camera and two hyperbolic mirrors. Once the system has been calibrated and two image points respectively projected by upper and nether mirrors are matched, the 3D coordinate of the space point can be acquired by means of triangulation. To satisfy the reliability requirement by mobile robot navigation, we use high-quality stereo matching algorithm - the graph cut method. An initial depth map can be calculated using efficient dynamic programming technique. With a relatively good initial map, the process of graph cut converges quickly. We also show the necessary modification to handle panoramic images, including deformed matching template, adaptable template scale. Experiment shows that this proposed vision system is feasible as a practical stereo sensor for accurate 3D map generation. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | UNR Comp Vis Lab, Desert Res Inst, Berkeley Lab, NASA, SIEMENS, Intel Corp, DigitalPersona, EQUINOX, hp, Ford, MITSUBISHI, Utopia Compress |
| 会议录 | ADVANCES IN VISUAL COMPUTING, PT I
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| 会议录出版者 | SPRINGER-VERLAG |
| 会议录出版地 | BERLIN |
| 语种 | 英语 |
| ISSN号 | 0302-9743 |
| ISBN号 | 978-3-540-76857-9 |
| WOS记录号 | WOS:000252834100028 |
| 源URL | [http://ir.sia.cn/handle/173321/8016]  |
| 专题 | 沈阳自动化研究所_光电信息技术研究室 |
| 推荐引用方式 GB/T 7714 | He L,Luo CJ,Geng YF,et al. Reliable depth map regeneration via a novel omnidirectional stereo sensor[C]. 见:3rd International Symposium on Visual Computing. Lake Tahoe, NV. November 26-28, 2007. |
入库方式： OAI收割
来源：沈阳自动化研究所
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