Fast stereo vision for mobile robots by global minima of cost functions
- Resource Type
- Conference
- Authors
- Brockers, R.; Hund, M.; Mertsching, B.
- Source
- 6th IEEE Southwest Symposium on Image Analysis and Interpretation, 2004. Image analysis and interpretation Image Analysis and Interpretation, 2004. 6th IEEE Southwest Symposium on. :85-89 2004
- Subject
- Signal Processing and Analysis
Computing and Processing
Stereo vision
Mobile robots
Cost function
Pixel
Cameras
Computer vision
Fuses
Acceleration
Equations
Layout
- Language
We introduce a novel stereo algorithm for computing a disparity map from a stereo image pair by minimizing a global cost function. The approach consists of two steps. First a "traditional" correlation-based similarity measurement is performed, then a relaxation takes place to eliminate possible ambiguities. The relaxation is formulated as a cost-optimizing approach, taking into account both the stereoscopic continuity constraint and considerations of the pixel similarity. The special formulation guarantees the existence of a unique minimum of the cost function which can be easily and rapidly found by standard numerical procedures. Results on real and synthetic images demonstrate the operative potential of the approach.