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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.

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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.

Item URL in elib:https://elib.dlr.de/62525/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Stereo Matching in the Presence of Sub-Pixel Calibration Errors
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Hirschmüller, Heikoheiko.hirschmueller (at) dlr.deUNSPECIFIED
Gehrig, Stefanstefan.gehrig (at) daimler.comUNSPECIFIED
Date:20 June 2009
Journal or Publication Title:Proceedings
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
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 (until 2012) > Robotic Systems
Deposited By: Beinhofer, Gabriele
Deposited On:15 Jan 2010 08:39
Last Modified:31 Jul 2019 19:26

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