Real-Time Epipolar Geometry Estimation of Binocular Stereo Heads
Real-Time Epipolar Geometry Estimation of Binocular Stereo Heads
复制标题
双目立体头的实时极线几何估计
DOI：
10.1109/34.990147
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
J. Eklundh
中科院分区：
文献类型：
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作者：
Mårten Björkman;J. Eklundh
立体是视觉引导机器人的重要提示。当在世界各地移动时，这样的机器人可以使用动态固定来克服图像分辨率和视野的限制。本文提出了一种能够动态固定的双目立体系统。外部校准是连续进行的，考虑到时间一致性，大大简化了过程。实时估计的基本矩阵用于描述对极几何形状。将展示如何识别异常值并将其从计算中排除。还提出了一种基于光流微分模型的迭代方法，通常用于运动结构，并针对基本矩阵进行了测试。当辐散角小于约15时，迭代方法将在计算速度和鲁棒性方面表现出优越性。对于较大的角度，微分模型是不够的，并且优选地使用本质矩阵来代替。
Stereo is an important cue for visually guided robots. While moving around in the world, such a robot can use dynamic fixation to overcome limitations in image resolution and field of view. In this paper, a binocular stereo system capable of dynamic fixation is presented. The external calibration is performed continuously taking temporal consistency into consideration, greatly simplifying the process. The essential matrix, which is estimated in real-time, is used to describe the epipolar geometry. It will be shown, how outliers can be identified and excluded from the calculations. An iterative approach based on a differential model of the optical flow, commonly used in structure from motion, is also presented and tested towards the essential matrix. The iterative method will be shown to be superior in terms of both computational speed and robustness, when the vergence angles are less than about 15. For larger angles, the differential model is insufficient and the essential matrix is preferably used instead.