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Geometrically Constrained RANSAC for Stereo Image Registration in Presence of High Ambiguity in Feature Correspondence


Cupec, Robert; Nyarko, Emmanuel Karlo; Kitanov, Andrej; Petrović, Ivan
Geometrically Constrained RANSAC for Stereo Image Registration in Presence of High Ambiguity in Feature Correspondence // Proceedings of the 4th European Conference on Mobile Robots / Petrović, Ivan ; Lilienthal, Achim J. (ur.).
Mlini/Dubrovnik, Hrvatska, 2009. str. 179-185 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Geometrically Constrained RANSAC for Stereo Image Registration in Presence of High Ambiguity in Feature Correspondence

Autori
Cupec, Robert ; Nyarko, Emmanuel Karlo ; Kitanov, Andrej ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 4th European Conference on Mobile Robots / Petrović, Ivan ; Lilienthal, Achim J. - , 2009, 179-185

Skup
4th European Conference on Mobile Robots

Mjesto i datum
Mlini/Dubrovnik, Hrvatska, 23.-25.09.2009.

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Image Registration; Stereo Vision; Feature Tracking; RANSAC

Sažetak
An approach for registration of sparse feature sets detected in two stereo image pairs taken from two different views is proposed. Analogously to many existing image registration approaches, our method consists of initial matching of features using local descriptors followed by a RANSAC-based procedure. The proposed approach is especially suitable for cases where there is a high percentage of false initial matches. The strategy proposed in this paper is to modify the hypothesis generation step of the basic RANSAC approach by performing a multiplestep procedure which uses geometric constraints in order to reduce the probability of false correspondences in the hypothesis. The algorithm needs approximate information about the relative camera pose between the two views obtained e.g. by odometry. However, the uncertainty of this information is allowed to be rather high. The presented technique is evaluated using both synthetic data and real data obtained by a stereo camera system.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Projekt / tema
036-0361621-3012 - Napredne strategije upravljanja i estimacije u složenim sustavima (Nedjeljko Perić, )
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Ivan Petrović, )
165-0361621-2000 - Distribuirano računalno upravljanje u transportu i industrijskim pogonima (Željko Hocenski, )

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb,
Fakultet elektrotehnike, računarstva i informacijskih tehnologija Osijek