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Stereo Vision in Structured Enviroments by Consistent Semi-Global Matching

Hirschmüller, Heiko (2006) Stereo Vision in Structured Enviroments by Consistent Semi-Global Matching. In: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition. IEEE 2006, 2006-06-17 - 2006-06-22, New York, NY (USA).

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Abstract

This paper considers the use of stereo vision in structured environments. Sharp discontinuities and large untextured areas must be aticipated, but complex or natural shapes of objects and fine structures should be handled as well. Additionally, radiometric differnces of input images often occur in practice. Finally, computation time is an issue for handling large or many images in acceptable time. the Semi-Global Matching method is chosen as it fullfills already many of the requirements. Remaining problems in structured environments are carefully analyzed and two novel extentions suggested. Firstly, intensity consistent disparity selection is proposed for handling untextured areas. Secondly, discontinuity preserving interpolation is suggested for filling holes in the disparity images that are cause by some filters. It is shown that the performance of the new method on test images with ground truth is comparable to currently best stereo methods, but the complexity and runtime is much lower.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Stereo Vision in Structured Enviroments by Consistent Semi-Global Matching
Authors:
AuthorsInstitution or Email of Authors
Hirschmüller, HeikoUNSPECIFIED
Date:2006
Journal or Publication Title:Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:-
Event Title:IEEE 2006
Event Location:New York, NY (USA)
Event Type:international Conference
Event Dates:2006-06-17 - 2006-06-22
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Monika Klauer
Deposited On:06 Sep 2007
Last Modified:27 Apr 2009 14:20

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