Stereo Image Registration Based on RANSAC with Selective Hypothesis Generation (CROSBI ID 546785)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Cupec, Robert ; Kitanov, Andrej ; Petrović, Ivan
engleski
Stereo Image Registration Based on RANSAC with Selective Hypothesis Generation
An approach for registration of sparse feature sets detected in stereo images taken from two different views is proposed. The approach is based on the RANSAC paradigm which ensures robustness to outliers. The strategy proposed in this work is to apply a multi-step procedure in the hypothesis generation stage of RANSAC using approximate information about the relative camera pose between the two views obtained e.g. by odometry. The data is taken from the input data set one by one and used to pose a geometric constraint for selection of the next data. This strategy reduces the number of false hypothesis in the RANSAC procedure. The presented technique is evaluated using both synthetic data and real data obtained by a stereo camera system mounted on a mobile robot.
stereo vision; image registration
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Podaci o prilogu
265-270.
2009.
objavljeno
Podaci o matičnoj publikaciji
Proceedings book of 40th International Symposium on Robotics
Basañ ez, Luis ; Suárez, Raúl ; Rosell, Jan
Barcelona: Asociación Españ ola de Robótica y Automatización Tecnologías de la Producción – AER-ATP
978-84-920933-8-0
Podaci o skupu
40th International Symposium on Robotics
predavanje
10.03.2009-13.03.2009
Barcelona, Španjolska