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Real-time epipolar geometry estimation of binocular stereo heads
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-0579-3372
KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA.
2002 (English)In: IEEE Transaction on Pattern Analysis and Machine Intelligence, ISSN 0162-8828, E-ISSN 1939-3539, Vol. 24, no 3, 425-432 p.Article in journal (Refereed) Published
Abstract [en]

Stereo is an important cue for visually guided robots. While moving around in the world, such a robot can use dynamic fixation to overcome limitations in image resolution and field of view. In this paper, a binocular stereo system capable of dynamic fixation is presented. The external calibration is performed continuously taking temporal consistency into consideration, greatly simplifying the process. The essential matrix, which is estimated in real-time, is used to describe the epipolar geometry. It will be shown, how outliers can be identified and excluded from the calculations. An iterative approach based on a differential model of the optical flow, commonly used in structure from motion, is also presented and tested towards the essential matrix. The iterative method will be shown to be superior in terms of both computational speed and robustness, when the vergence angles are less than about 15degrees. For larger angles, the differential model is insufficient and the essential matrix is preferably used instead.

Place, publisher, year, edition, pages
2002. Vol. 24, no 3, 425-432 p.
Keyword [en]
epipolar geometry, active vision, real-time stereo, dynamic vergence, motion estimation, algorithm, fixation, vision, system
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-21343ISI: 000174035900012OAI: oai:DiVA.org:kth-21343DiVA: diva2:340041
Note
QC 20100525Available from: 2010-08-10 Created: 2010-08-10 Last updated: 2017-12-12Bibliographically approved

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Björkman, Mårten

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
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  • vancouver
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  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
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Output format
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  • text
  • asciidoc
  • rtf