Abstract
This chapter describes a real-time 3-D vision system that uses stereo matching of vertical edge segments. The system is designed to permit a mobile robot to avoid obstacles and position itself within an indoor environment. The system uses real-time edge tracking to lock onto stereo matches. Stereo matching is performed using a global version of dynamic programming for matching stereo segments.
The chapter starts by describing the hypotheses that make possible an inexpensive real-time stereo system. The process for detecting vertical edge points and describing these points as vertical edge segments is then described. This is followed by a brief description of the edge tracking process. Stereo matching by global dynamic programming is then described.
Stereo matching makes it possible to recover the 3-D position of vertical lines. The mathematics for projecting 3-D vertical segments from stereo matches is presented. A parametric representation for 3-D vertical segments is then described. This representation describes 3-D segments as a vector of parameters with their uncertainty.
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© 1992 Springer-Verlag New York, Inc.
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Crowley, J.L., Bobet, P., Sarachik, K. (1992). Mobile Robot Perception Using Vertical Line Stereo. In: Masaki, I. (eds) Vision-based Vehicle Guidance. Springer Series in Perception Engineering. Springer, New York, NY. https://doi.org/10.1007/978-1-4612-2778-6_15
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DOI: https://doi.org/10.1007/978-1-4612-2778-6_15
Publisher Name: Springer, New York, NY
Print ISBN: 978-1-4612-7665-4
Online ISBN: 978-1-4612-2778-6
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