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Fast Line-Segment Extraction for Semi-dense Stereo Matching

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Robot Vision (RobVis 2008)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 4931))

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Abstract

This paper describes our work on practical stereo vision for mobile robots using commodity hardware. The approach described in this paper is based on line segments, since those provide a lot of information about the environment, provide more depth information than point features, and are robust to image noise and colour variations. However, stereo matching with line segments is a difficult problem due to poorly localized end points and perspective distortion. Our algorithm uses integral images and Haar features for line segment extraction. Dynamic programming is used in the line segment matching phase. The resulting line segments track accurately from one frame to the next, even in the presence of noise.

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Authors and Affiliations

  1. University of Manitoba, Winnipeg, MB, Canada, R3T 2N2

    Brian McKinnon & Jacky Baltes

Authors
  1. Brian McKinnon
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  2. Jacky Baltes
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Editor information

Gerald Sommer Reinhard Klette

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© 2008 Springer-Verlag Berlin Heidelberg

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McKinnon, B., Baltes, J. (2008). Fast Line-Segment Extraction for Semi-dense Stereo Matching. In: Sommer, G., Klette, R. (eds) Robot Vision. RobVis 2008. Lecture Notes in Computer Science, vol 4931. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-78157-8_5

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  • DOI: https://doi.org/10.1007/978-3-540-78157-8_5

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-78156-1

  • Online ISBN: 978-3-540-78157-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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