Naslov
Stereo Image Registration Based on RANSAC with Selective Hypothesis Generation

Autori
Cupec, Robert ; Kitanov, Andrej ; Petrović, Ivan

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

Izvornik
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, 2009, 265-270

ISBN
978-84-920933-8-0

Skup
40th International Symposium on Robotics

Mjesto i datum
Barcelona, Španjolska, 10.03.2009. - 13.03.2009

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
stereo vision; image registration

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

POVEZANOST RADA