Structure from stereo vision using unsynchronised cameras for simultaneous localization and mapping
2005 (English)In: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4, 2005, 2993-2998 p.Conference paper (Refereed)
This paper presents a system for automatic reconstruction of 3D structure using two unsynchronized cameras. Three images are acquired sequentially from the left, right, and again from the left camera. A virtual image from the left camera synchronized with the right image is created by interpolating matching points of interest (SIFT features) in the two left images. Both geometric and probabilistic criteria are used to select the correct set of matching features amongst the three views. In an indoor environment, the method typically results in 3D structure with approximately 200 feature points, with a median 3D accuracy of 1.6 cm when the average depth is 3 m and the robot has moved 1-2 cm between each image acquisition.
Place, publisher, year, edition, pages
2005. 2993-2998 p.
stereo vision, 3D structure, outliers detection, unsynchronized cameras, SLAM, feature correspondence
Computer and Information Science
IdentifiersURN: urn:nbn:se:kth:diva-43371DOI: 10.1109/IROS.2005.1545431ISI: 000235632102152ScopusID: 2-s2.0-79958017264ISBN: 0-7803-8912-3OAI: oai:DiVA.org:kth-43371DiVA: diva2:448171
IEEE/RSJ International Conference on Intelligent Robots and Systems Location: Edmonton, CANADA Date: AUG 02-06, 2005
QC 201110142011-10-142011-10-142011-10-14Bibliographically approved