Efficient hierarchical matching algorithm for processing uncalibrated stereo vision images and its hardware architecture
2011 (English)In: IET Image Processing, ISSN 1751-9659, E-ISSN 1751-9667, Vol. 5, no 5, 481-492 p.Article in journal (Refereed) Published
In motion estimation, the sub-pixel matching technique involves the search of sub-sample positions as well as integer-sample positions between the image pairs, choosing the one that gives the best match. Based on this idea, this work proposes an estimation algorithm, which performs a 2-D correspondence search using a hierarchical search pattern. The intermediate results are refined by 3-D cellular automata (CA). The disparity value is then defined using the distance of the matching position. Therefore the proposed algorithm can process uncalibrated and non-rectified stereo image pairs, maintaining the computational load within reasonable levels. Additionally, a hardware architecture of the algorithm is deployed. Its performance has been evaluated on both synthetic and real self-captured image sets. Its attributes, make the proposed method suitable for autonomous outdoor robotic applications.
Place, publisher, year, edition, pages
2011. Vol. 5, no 5, 481-492 p.
Best match, Computational loads, Estimation algorithm, Hardware architecture, Hierarchical matching algorithm, Hierarchical search, Image pairs, Image sets, Intermediate results, Matching techniques, Robotic applications, Stereo image pairs, Sub pixels, Algorithms, Cellular automata, Motion estimation, Pattern recognition systems, Stereo vision, Image matching
Computer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:kth:diva-50988DOI: 10.1049/iet-ipr.2009.0262ISI: 000292960800017OAI: oai:DiVA.org:kth-50988DiVA: diva2:463176
ProjectsVision and Chemiresistor Equipped Web-connected Finding Robots (View-Finder), FP6-IST-2006-045541
QC 201112092011-12-082011-12-082011-12-09Bibliographically approved