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Monocular adaptive inverse depth filtering algorithm based on Gaussian model
Xu, Chenglong1,3; Wu CD(吴成东)1; Qu DK(曲道奎)2,3; Sun HB(孙海波)1,2; Song JL(宋吉来)2,3; Wang, Xiaofeng3
Department其他
Conference Name32nd Chinese Control and Decision Conference, CCDC 2020
Conference DateAugust 22-24, 2020
Conference PlaceHefei, China
Author of SourceIEEE Control Systems Society (CSS) ; Northeastern University ; State Key Laboratory of Synthetical Automation for Process Industries ; Technical Committee on Control Theory, Chinese Association of Automation
Source PublicationProceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020
PublisherIEEE
Publication PlaceNew York
2020
Pages4943-4947
Indexed ByEI
EI Accession number20204009254694
Contribution Rank2
ISBN978-1-7281-5854-9
KeywordMonocular depth estimation Inverse depth filtering Gaussian model Normalized cross-correlation
AbstractThis paper presents an adaptive filtering algorithm for monocular depth estimation. This is a geometric calculation method under the assumption that the inverse depth conforms to the Gaussian distribution. In the inverse depth update, the average value of the historical stable points is introduced to smooth the output, and the depth uncertainty of the unit pixel offset is calculated to eliminate the estimation error. In the similarity search along the epipolar line, the normalized cross-correlation and gradient are used as joint metrics. Finally, the effectiveness of the algorithm is verified through experiments, and it can get a better trade-off between performance and time.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/27693
Collection其他
Corresponding AuthorXu, Chenglong
Affiliation1.Faculty of Robot Science and Engineering, Northeastern University, Shenyang 110169, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
3.Shenyang SIASUN Robot & Automation Co., LTD., Shenyang 110168, China
Recommended Citation
GB/T 7714
Xu, Chenglong,Wu CD,Qu DK,et al. Monocular adaptive inverse depth filtering algorithm based on Gaussian model[C]//IEEE Control Systems Society (CSS), Northeastern University, State Key Laboratory of Synthetical Automation for Process Industries, Technical Committee on Control Theory, Chinese Association of Automation. New York:IEEE,2020:4943-4947.
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