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Stereo vision for robotic applications in the presence of non-ideal lighting conditions
Production and Management Engineering Dept., Democritus University of Thrace, Greece.
Production and Management Engineering Dept., Democritus University of Thrace, Greece.
2010 (English)In: Image and Vision Computing, ISSN 0262-8856, E-ISSN 1872-8138, Vol. 28, no 6, 940-951 p.Article in journal (Refereed) Published
Abstract [en]

Many robotic and machine-vision applications rely on the accurate results of stereo correspondence algorithms. However, difficult environmental conditions, such as differentiations in illumination depending on the viewpoint, heavily affect the stereo algorithms' performance. This work proposes a new illumination-invariant dissimilarity measure in order to substitute the established intensity-based ones. The proposed measure can be adopted by almost any of the existing stereo algorithms, enhancing it with its robust features. The performance of the dissimilarity measure is validated through experimentation with a new adaptive support weight (ASW) stereo correspondence algorithm. Experimental results for a variety of lighting conditions are gathered and compared to those of intensity-based algorithms. The algorithm using the proposed dissimilarity measure outperforms all the other examined algorithms, exhibiting tolerance to illumination differentiations and robust behavior.

Place, publisher, year, edition, pages
AMSTERDAM: Elsevier, 2010. Vol. 28, no 6, 940-951 p.
Keyword [en]
Disparity map, Gestalt laws, HSL color space, Luminosity non-uniformity compensation, Stereo vision, Color space, Gestalt law, Nonuniformity, Algorithms, Color, Lighting, Luminance, Robotics
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-50991DOI: 10.1016/j.imavis.2009.11.011ISI: 000276861200009OAI: oai:DiVA.org:kth-50991DiVA: diva2:463170
Projects
Vision and Chemiresistor Equipped Web-connected Finding Robots (View-Finder), FP6-IST-2006-045541
Note
QC 20111212Available from: 2011-12-08 Created: 2011-12-08 Last updated: 2017-12-08Bibliographically approved

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Publisher's full texthttp://www.scopus.com/inward/record.url?eid=2-s2.0-77949273814&partnerID=40&md5=c009a51b97bf7cb9107132ef29dadc01

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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