High precision range estimation from an omnidirectional stereo system
High precision range estimation from an omnidirectional stereo system
复制标题
DOI：
10.1109/irds.2002.1041399
复制
发表时间：
2002-12
期刊：
影响因子：
--
通讯作者：
J. Takiguchi;M. Yoshida;A. Takeya;J. Eino;T. Hashizume
中科院分区：
文献类型：
--
作者：
J. Takiguchi;M. Yoshida;A. Takeya;J. Eino;T. Hashizume
本文提出了一种基于柱面重投影的深度估计方法，该方法由两套ODV（全向视觉系统）组成。通常，由这种装置获得的图像具有相对低的空间分辨率，并且与标准相机图像相比具有一些像差，因此，引起相当大的距离估计误差。我们提出了一个立体设置的ODV，其特点是两个镜子与人为的曲率，以尽量减少模糊的影响。我们也提出了一个基于边缘的亮度插值方法，一个双向的亚像素匹配过程，和一个不连续性补偿算法，以减少视差误差。
This paper presents the estimation of depth based on the cylindrical re-projections of images captured by a stereo setup consisting of two sets of an ODV (omnidirectional vision system). In general, images obtained by such a device have a relatively low spatial resolution and have some aberration in comparison to standard camera images and thus, considerable range estimation errors are caused. We propose a stereo setup of an ODV, which features two mirrors with a contrived curvature to minimize blurring influence. We also propose an edge-based intensity interpolation method, a bi-directional sub-pixel matching procedure, and a discontinuity compensation algorithm to reduce the disparity error.