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Rectified Reconstruction from Stereo Pairs and Robot Mapping

  • Antonio Javier Gallego
  • Rafael Molina
  • Patricia Compan̈
  • Carlos Villagrá
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4673)

Abstract

The reconstruction and mapping of real scenes is a crucial element in several fields such as robot navigation. Stereo vision can be a powerful solution. However the perspective effect arises, as well as other problems, when the reconstruction is tackled using depth maps obtained from stereo images. A new approach is proposed to avoid the perspective effect, based on a geometrical rectification using the vanishing point of the image. It also uses sub-pixel precision to solve the lack of information for distant objects. Finally, the method is applied to map a whole scene, introducing a cubic filter.

Keywords

Stereo Image Stereo Vision Robot Navigation Stereo Pair Stereo Camera 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • Antonio Javier Gallego
    • 1
  • Rafael Molina
    • 1
  • Patricia Compan̈
    • 1
  • Carlos Villagrá
    • 1
  1. 1.Grupo de Informática Industrial e Inteligencia Artificial, Universidad de Alicante, Ap.99, E-03080, AlicanteSpain

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