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Fast Plane Parameter Estimation from Stereo Images

Shigeki Sugimoto, Masatoshi Okutomi
2007 IAPR International Workshop on Machine Vision Applications  
In this paper, we propose an efficient and robust method for plane parameter estimation from stereo images.  ...  We formulate a fast direct method for the plane parameters by incorporating inverse compositional expression into the SSD function between two images.  ...  We can see the slope shapes from Fig. 6 . Conclusions We have proposed an efficient direct method for plane parameter estimation using stereo images.  ... 
dblp:conf/mva/SugimotoO07 fatcat:h67u2utf7vfc5opiazad6zdnza

Model-based Estimation for Pose, Velocity of Projectile from Stereo Linear Array Image

Zhuxin Zhao, Gongjian Wen, Xing Zhang, Deren Li
2012 Measurement Science Review  
From the projectile's stereo image, the motion parameters (pose and velocity) are acquired by using a model-based optimization algorithm.  ...  The algorithm achieves optimal estimation of the parameters by matching the stereo projection of the projectile and that of the same size 3D model.  ...  = Δ (7) z x L R V t L ′ − = Δ (8) , , , , , Thus, an initial guess of the motion parameters of the target is obtained from a series of special points on the stereo images of the target.  ... 
doi:10.2478/v10048-012-0013-x fatcat:4xovmsuoqnebdpyb3ncpozfcrm

Real time on board stereo camera pose through image registration

Fadi Dornaika, Angel D. Sappa
2008 2008 IEEE Intelligent Vehicles Symposium  
Unlike existing works which rely on feature extraction either in the image domain or in 3D space, our approach directly estimates the unknown parameters from the stream of stereo pairs' brightness.  ...  The pose parameters are estimated by registering the right and left images, which is solved using two optimization techniques: the Differential Evolution algorithm and the Levenberg-Marquardt algorithm  ...  Second, recovering the plane parameters from the rawbrightness of a given stereo pair will rely on the following fact: if the parameter vector w corresponds to the actual plane parameters-the distance  ... 
doi:10.1109/ivs.2008.4621177 fatcat:iwgsqhmvqba2pkpu74zps2qvvy

Real Time Stereo Image Registration for Planar Structure and 3D Sensor Pose Estimation [chapter]

Fadi Dornaika, Angel D.
2008 Stereo Vision  
The proposed approach is then invoked to estimate the road parameters from the noisy stereo pair.  ...  Second, recovering the plane parameters from the rawbrightness of a given stereo pair will rely on the following fact: if the parameter vector w corresponds to the actual plane parameters⎯the distance  ...  Real Time Stereo Image Registration for Planar Structure and 3D Sensor Pose Estimation, Stereo Vision, Asim Bhatti (Ed.), ISBN: 978-953-7619-22-0, InTech, Available from: http://www.intechopen.com/books  ... 
doi:10.5772/5895 fatcat:zrhsnmkp3jb63lxtmrro6pat5y

Disparity Map Computation from Stereo Images Using Hill-Climbing Segmentation

Tin Tin San, Image Processing Lab, University of Computer Studies, Mandalay, Myanmar, Kay Thi Win, Faculty of Information Science, University of Computer Studies, Mandalay, Myanmar
2019 INTERNATIONAL JOURNAL OF RESEARCH AND ENGINEERING  
The task of stereo matching is to find the point correspondence between two images of the same scene taken from different viewpoints. This paper presents a segment-based stereo matching algorithm.  ...  Firstly, the reference image is segmented using hill-climbing algorithm and local stereo matching is performed Scale Invariant Feature Transform (SIFT) feature points with Sum of Absolute Differences (  ...  They have reconstructed 3D information of real images from the estimated disparity fields and camera parameters.  ... 
doi:10.21276/ijre.2019.6.1.1 fatcat:n25mruujszaffjuovgulamijci

3D Face Reconstruction from Stereo: A Model Based Approach

Ying Zheng, Jianglong Chang, Zhigang Zheng, Zengfu Wang
2007 2007 IEEE International Conference on Image Processing  
Then the known correspondences are extended to the incoming stereo face images, using face alignment and warping. The complete 3D face can thus be reconstructed from stereo images reliably.  ...  The virtual face images with known correspondences are first synthesized from the reference face.  ...  (d)-(e) The virtual face images synthesized from the reference redrawn into image planes of (b) and (c), using the estimated parameters. Fig. 3 . 3 Surface smoothing.  ... 
doi:10.1109/icip.2007.4379247 dblp:conf/icip/ZhengCZW07 fatcat:mk7oicjnzraalg7z5abk5wjrry

Content-based 3D mosaics for dynamic urban scenes

Zhigang Zhu, Hao Tang, George Wolberg, Jeffery R. Layne, Kevin L. Priddy, Emre Ertin
2006 Intelligent Computing: Theory and Applications IV  
Multiple pairs of stereo mosaics are used for facilitating reliable stereo matching, occlusion handling, accurate 3D reconstruction and robust moving target detection.  ...  In the second step, a segmentation-based stereo matching algorithm is applied to extract parametric representations of the color, structure and motion of the dynamic and/or 3D objects in urban scenes where  ...  Then, among all the estimates for each patch, the set of plane parameters with the least SAD value is selected as the best plane estimate.  ... 
doi:10.1117/12.664200 fatcat:stwwrlh4l5an5bqeritiwoxoza

Direct Generation of Regular-Grid Ground Surface Map from In-Vehicle Stereo Image Sequences

Shigeki Sugimoto, Kouma Motooka, Masatoshi Okutomi
2013 2013 IEEE International Conference on Computer Vision Workshops  
We propose a direct method for incrementally estimating a regular-grid ground surface map from stereo image sequences captured by nearly front-looking stereo cameras, taking illumination changes on all  ...  The main difficulty of the problem formulation lies in the instability of the height estimation for the vertices distant from the cameras.  ...  Acknowledgement This work was partially supported by the Grants-in-Aid for Scientific Research (No. 25240025) from the Japan Society for the Promotion of Science.  ... 
doi:10.1109/iccvw.2013.83 dblp:conf/iccvw/SugimotoMO13 fatcat:gqhxfvrvz5dlvjzzkup2nypupy

Robust unified stereo-based 3D head tracking and its application to face recognition

Kwang Ho An, Myung Jin Chung
2010 2010 IEEE International Conference on Robotics and Automation  
Also, by computing the illumination bases online from the registered face images, after estimating the 3D head poses, user-specific illumination bases can be obtained, and therefore illumination-robust  ...  To cope with large out-of-plane rotations and translation in-depth, we extend conventional head tracking with a single camera to a stereo-based framework.  ...  First, it was verified that the proposed unified stereo-based tracking method is able to cope with fast and large out-of-plane rotations and translation in-depth.  ... 
doi:10.1109/robot.2010.5509999 dblp:conf/icra/AnC10 fatcat:7lttahkp6fbolo7cukdnqh4bxu

Fast stereo matching using multilevel enhancement

Jaeweon Kim, S. Shah
2000 Proceedings of the Third International Conference on Information Fusion  
This paper presents a new approach for fast and accurate stereo correspondence.  ...  Ambiguities mainly come from image noise, lack of intensity variation or geometric distortion. For disambiguation, the adaptive window theory is applied to avoid mismatch in featureless area.  ...  For recovering 3D shape using stereo, the correct and fast estimation of disparities is the most difficult problem.  ... 
doi:10.1109/ific.2000.859825 fatcat:cfyxirtsvzh4ni2zja3meiuame

Patchlets: Representing Stereo Vision Data with Surface Elements

D. Murray, J.J. Little
2005 2005 Seventh IEEE Workshops on Applications of Computer Vision (WACV/MOTION'05) - Volume 1  
We describe patchlet formation from the stereo disparity image, the propagation of errors from the stereo sensor model, and confirm experimentally the patchlet model representation.  ...  Patchlets are planar surface elements generated from dense stereo vision 3D range images. Patchlets have a position, surface normal and size.  ...  For our plane representation we use three parameters -yaw, pitch and distance from the origin.  ... 
doi:10.1109/acvmot.2005.90 dblp:conf/wacv/MurrayL05 fatcat:hz6ana3t6rfr5f7zwpsorgehg4

Improving subpixel stereo matching with segment evolution

Yao-Jen Chang, Hung-Hsun Liu, Tsuhan Chen
2010 2010 IEEE International Conference on Image Processing  
Given an initial estimation of segmentation and depth, the proposed algorithm jointly optimizes the segmentation and depth by evolving the segmentation at the pixel level and updating the plane parameters  ...  By assuming pixels within one image segment belong to the same 3D surface, robust depth estimation can be achieved by taking the whole segment into consideration.  ...  Segment evolution and robust plane fitting are followed to obtain a better plane parameterization and image segmentation.  ... 
doi:10.1109/icip.2010.5653123 dblp:conf/icip/ChangLC10 fatcat:aklhdnvbbfdcbc4sf4utsz2c2a

A Method of Estimating Oriented Surface Elements from Stereo Images

T. Pietzsch, A. Grossmann
2005 Procedings of the British Machine Vision Conference 2005  
To estimate the patchlet parameters, we use probabilistic image alignment.  ...  In this paper, we describe a technique for the computation of augmented surface patches from stereo images.  ...  In contrast, we estimate the patchlet parameters directly from the deformation of intensity patterns between the images.  ... 
doi:10.5244/c.19.28 dblp:conf/bmvc/PietzschG05 fatcat:a6tdqpxjp5defhi74le5vxru34

Modified Region Growing for Stereo of Slant and Textureless Surfaces [chapter]

Rohith MV, Gowri Somanath, Chandra Kambhamettu, Cathleen Geiger, David Finnegan
2010 Lecture Notes in Computer Science  
We propose a fast and efficient region growing algorithm for estimating the stereo disparity. Though we present results on ice images, the algorithm can be easily used for other applications.  ...  In this paper, we present an algorithm for estimating disparity for images containing large textureless regions.  ...  Comparison of surface reconstructed from stereo and 3D laser scanner. (a) Left image from stereo image pair. (b) Disparity estimated from our algorithm.  ... 
doi:10.1007/978-3-642-17289-2_64 fatcat:zn52yvwapbhnbf67dvzq63ujmi

Human victim detection and stereo-based terrain traversability analysis for behaviour-based robot navigation [chapter]

G. De Cubber, D. Doroftei
2011 Using Robots in Hazardous Environments  
Terrain Traversability Estimation Detecting obstacles from stereo vision images may seem simple, as the stereo vision system can provide rich depth information.  ...  The projection of this ground plane in the v-disparity image is a straight line, from the top left to the bottom 6 right of the v-disparity image.  ... 
doi:10.1533/9780857090201.4.476 fatcat:72depuioonhdvizp6wrikdc2ii
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