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题名: Omnidirectional Depth Recovery based on a Novel Stereo Sensor
作者: Luo CJ(罗川江) ; He L(何雷) ; Su LC(苏连成) ; Zhu F(朱枫) ; Hao YM(郝颖明) ; Shi ZL(史泽林)
作者部门: 光电信息研究室
会议名称: ACCV 07 Workshop on Multi-dimensional and Multi-view Image Processing
会议日期: November 18-22, 2007
会议地点: Tokyo, Japan
会议录: ACCV 07 Workshop on Multi-dimensional and Multi-view Image Processing
出版日期: 2007
页码: 6 pp.
摘要: Omnidirectional depth map generation is very important for mobile robot navigation and action planning. In this paper, we present design of a novel stereo sensor and an algorithm to recovery dense 3D depth map for a mobile robot. The vision system is composed of a perspective camera and two hyperbolic mirrors. Once the system has been calibrated and two image points respectively projected by upper and nether mirrors are matched, the 3D coordinate of the space point can be acquired by means of triangulation. Our method can be divided into two steps. An initial depth map can be calculated using efficient dynamic programming technique. We adopt graph cut algorithm in the second step. With a relatively good initial map, the process of graph cut converges very fast. We also show the necessary modification to handle panoramic images, including deformed matching template, adaptable template scale. Experiment shows that this proposed vision system is feasible as a practical stereo sensor for accurate 3D map generation.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/9715
Appears in Collections:光电信息技术研究室_会议论文

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Recommended Citation:
罗川江; 何雷; 苏连成; 朱枫; 郝颖明; 史泽林.Omnidirectional Depth Recovery based on a Novel Stereo Sensor.见:.ACCV 07 Workshop on Multi-dimensional and Multi-view Image Processing,,2007,6 pp.
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