elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Contact | Deutsch
Fontsize: [-] Text [+]

Stereo Matching in the Presence of Sub-Pixel Calibration Errors

Hirschmüller, Heiko and Gehrig, Stefan (2009) Stereo Matching in the Presence of Sub-Pixel Calibration Errors. In: Proceedings. Conference on Computer Vision and Pattern Recognition, 20. Juni - 25. Juni 2009, Miami, USA.

[img]
Preview
PDF - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
2MB

Abstract

Stereo matching commonly requires rectified images that are computed from calibrated cameras. Since all under-lying parametric camera models are only approximations, calibration and rectification will never be perfect. Additionally, it is very hard to keep the calibration perfectly stable in application scenarios with large temperature changes and vibrations. We show that even small calibration errors of a quarter of a pixel are severely amplified on certain structures. We discuss a robotics and a driver assistance example where sub-pixel calibration errors cause severe problems. We propose a filter solution based on signal theory that removes critical structures and makes stereo algorithms less sensitive to calibration errors. Our approach does not aim to correct decalibration, but rather to avoid amplifications and mismatches. Experiments on ten stereo pairs with ground truth and simulated decalibrations as well as images from robotics and driver assistance scenarios demonstrate the success and limitations of our solution that can be combined with any stereo method.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Stereo Matching in the Presence of Sub-Pixel Calibration Errors
Authors:
AuthorsInstitution or Email of Authors
Hirschmüller, Heikoheiko.hirschmueller@dlr.de
Gehrig, Stefanstefan.gehrig@daimler.com
Date:20 June 2009
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:Stereo matching, Sub-Pixel Calibration Errors
Event Title:Conference on Computer Vision and Pattern Recognition
Event Location:Miami, USA
Event Type:international Conference
Event Dates:20. Juni - 25. Juni 2009
Organizer:IEEE
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: Gabriele Beinhofer
Deposited On:15 Jan 2010 08:39
Last Modified:12 Dec 2013 20:51

Repository Staff Only: item control page

Browse
Search
Help & Contact
Informationen
electronic library is running on EPrints 3.3.12
Copyright © 2008-2012 German Aerospace Center (DLR). All rights reserved.