Name
Abstract | ||
|---|---|---|
Stereo is an important cue for visually guided robots. While moving around in the world, such a robot can use dynamic fixation to overcome limitations in image resolution and field of view. In this paper, a binocular stereo system capable of dynamic fixation is presented. The external calibration is performed continuously taking temporal consistency into consideration, greatly simplifying the process. The essential matrix, which is estimated in real-time, is used to describe the epipolar geometry. It will be shown, how outliers can be identified and excluded from the calculations. An iterative approach based on a differential model of the optical flow, commonly used in structure from motion, is also presented and tested towards the essential matrix. The iterative method will be shown to be superior in terms of both computational speed and robustness, when the vergence angles are less than about 15^{\circ}. For larger angles, the differential model is insufficient and the essential matrix is preferably used instead. |
Year | DOI | Venue |
|---|---|---|
2002 | 10.1109/34.990147 | IEEE Trans. Pattern Anal. Mach. Intell. |
Keywords | Field | DocType |
binocular stereo system,real-time epipolar geometry estimation,computational speed,image resolution,iterative approach,epipolar geometry,external calibration,dynamic fixation,essential matrix,binocular stereo heads,iterative method,differential model,iterative methods,structure from motion,robustness,computer and information science,real time systems,geometrical optics,robots,testing,real time,calibration,image reconstruction,iteration method,computational geometry,head,optical flow,active vision,field of view | Iterative reconstruction,Structure from motion,Computer vision,Essential matrix,Epipolar geometry,Computer science,Iterative method,Computational geometry,Artificial intelligence,Optical flow,Fundamental matrix (computer vision) | Journal |
Volume | Issue | ISSN |
24 | 3 | 0162-8828 |
Citations | PageRank | References |
15 | 0.82 | 13 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mårten Björkman | 1 | 202 | 13.90 |
| Jan-Olof Eklundh | 2 | 1125 | 376.36 |