Stereo and Active-Sensor Data Fusion for Improved Stereo Block Matching

Stefan-Daniel Suvei, Leon Bodenhagen, Lilita Kiforenko, Peter Christiansen, Rasmus Nyholm Jørgensen, Anders Glent Buch, Norbert Krüger

Publikation: Kapitel i bog/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

Abstrakt

This paper proposes an algorithm which uses the depth information acquired from an active sensor as guidance for a block matching stereo algorithm. In the proposed implementation, the disparity search interval used for the block matching is reduced around the depth values obtained from the active sensor, which leads to an improved matching quality and denser disparity maps and point clouds. The performance of the proposed method is evaluated by carrying out a series of experiments on 3 different data sets obtained from different robotic systems. We demonstrate with experimental results that the disparity estimation is improved and denser disparity maps are generated.

OriginalsprogEngelsk
TitelImage Analysis and Recognition : 13th International Conference, ICIAR 2016, in Memory of Mohamed Kamel, Póvoa de Varzim, Portugal, July 13-15, 2016, Proceedings
RedaktørerAurélio Campilho, Fakhri Karray
ForlagSpringer
Publikationsdatojul. 2016
Sider451-461
ISBN (Trykt)978-3-319-41500-0
ISBN (Elektronisk)978-3-319-41501-7
DOI
StatusUdgivet - jul. 2016
Begivenhed13th International Conference on Image Analysis and Recognition - Póvoa de Varzim, Portugal
Varighed: 13. jul. 201615. jul. 2016
https://www.aimiconf.org/iciar16/

Konference

Konference13th International Conference on Image Analysis and Recognition
Land/OmrådePortugal
ByPóvoa de Varzim
Periode13/07/201615/07/2016
Internetadresse
NavnLecture Notes in Computer Science
Vol/bind9730
ISSN0302-9743

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