Robust 3D vision for robots using dynamic programming
2011 (English)In: 2011 IEEE International Conference on Imaging Systems and Techniques, IST 2011 - Proceedings, VDE Verlag GmbH, 2011, 89-93 p.Conference paper (Refereed)
In this paper a new stereo vision method is presented that combines the use of a lightness-invariant pixel dissimilarity measure within a dynamic programming depth estimation framework. This method uses concepts such as the proper projection of the HSL colorspace for lightness tolerance, as well as the Gestalt-based adaptive support weight aggregation and a dynamic programming optimization scheme. The robust behavior of this method is suitable for the working environments of outdoor robots, where non ideal lighting conditions often occur. Such problematic conditions heavily affect the efficiency of robot vision algorithms in exploration, military and security applications. The proposed algorithm is presented and applied to standard image sets.
Place, publisher, year, edition, pages
VDE Verlag GmbH, 2011. 89-93 p.
dynamic programming, lightness-invariant, robot vision, stereo vision, 3-D vision, Adaptive support, Depth Estimation, Dissimilarity measures, Lighting conditions, Optimization scheme, Robust behavior, Security application, Standard images, Working environment, Algorithms, Computer vision, Imaging systems, Military applications, Robot programming, Robots
Computer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:kth:diva-50986DOI: 10.1109/IST.2011.5962204ScopusID: 2-s2.0-80052156978ISBN: 978-161284896-9OAI: oai:DiVA.org:kth-50986DiVA: diva2:463179
2011 IEEE International Conference on Imaging Systems and Techniques, IST 2011; Batu Ferringhi, Penang; 17 May 2011 through 18 May 2011
QC 201112092011-12-082011-12-082011-12-09Bibliographically approved