Monocular adaptive inverse depth filtering algorithm based on Gaussian model
文献类型：会议论文
| 作者 | Xu, Chenglong1,3; Wu CD(吴成东)3; Qu DK(曲道奎)1,2; Sun HB(孙海波)2,3; Song JL(宋吉来)1,2; Wang, Xiaofeng1 |
| 出版日期 | 2020 |
| 会议日期 | August 22-24, 2020 |
| 会议地点 | Hefei, China |
| 关键词 | Monocular depth estimation Inverse depth filtering Gaussian model Normalized cross-correlation |
| 页码 | 4943-4947 |
| 英文摘要 | This paper presents an adaptive filtering algorithm for monocular depth estimation. This is a geometric calculation method under the assumption that the inverse depth conforms to the Gaussian distribution. In the inverse depth update, the average value of the historical stable points is introduced to smooth the output, and the depth uncertainty of the unit pixel offset is calculated to eliminate the estimation error. In the similarity search along the epipolar line, the normalized cross-correlation and gradient are used as joint metrics. Finally, the effectiveness of the algorithm is verified through experiments, and it can get a better trade-off between performance and time. |
| 源文献作者 | IEEE Control Systems Society (CSS) ; Northeastern University ; State Key Laboratory of Synthetical Automation for Process Industries ; Technical Committee on Control Theory, Chinese Association of Automation |
| 产权排序 | 2 |
| 会议录 | Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-5854-9 |
| WOS记录号 | WOS:000621616905010 |
| 源URL | [http://ir.sia.cn/handle/173321/27693]  |
| 专题 | 沈阳自动化研究所_其他 |
| 通讯作者 | Xu, Chenglong |
| 作者单位 | 1.Shenyang SIASUN Robot & Automation Co., LTD., Shenyang 110168, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.Faculty of Robot Science and Engineering, Northeastern University, Shenyang 110169, China |
| 推荐引用方式 GB/T 7714 | Xu, Chenglong,Wu CD,Qu DK,et al. Monocular adaptive inverse depth filtering algorithm based on Gaussian model[C]. 见:. Hefei, China. August 22-24, 2020. |
入库方式： OAI收割
来源：沈阳自动化研究所
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