Real-time epipolar geometry estimation of binocular stereo heads
2002 (English)In: IEEE Transaction on Pattern Analysis and Machine Intelligence, ISSN 0162-8828, Vol. 24, no 3, 425-432 p.Article in journal (Refereed) Published
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.
epipolar geometry, active vision, real-time stereo, dynamic vergence, motion estimation, algorithm, fixation, vision, system
Computer and Information Science
IdentifiersURN: urn:nbn:se:kth:diva-21343ISI: 000174035900012OAI: oai:DiVA.org:kth-21343DiVA: diva2:340041
QC 201005252010-08-102010-08-102012-02-09Bibliographically approved