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Accurate Real-Time Disparity Map Computation Based on Variable Support Window

Nadia Baha, Slimane Larabi
2011 International Journal of Artificial Intelligence & Applications  
We propose in this paper a real-time dense stereo matching algorithm using variable support window for disparity map computing.  ...  Basic real-time local algorithms relying on a fixed and rectangular correlation window suffer from the difficulty for window-based methods lies in determining the best window shape and size for each pixel  ...  stereo vision implementations in terms of accuracy and computation time Method Rank Time Rank Accuracy Average Rank Our method 2 5 3.5 Mattocia [6] 5 3 4 Tombari [5] 1 8 4.5 Vanetti  ... 
doi:10.5121/ijaia.2011.2303 fatcat:7naoepg7r5bgbkzdqyyxhqwwuq

Stereo vision based indoor/outdoor navigation for flying robots

Korbinian Schmid, Teodor Tomic, Felix Ruess, Heiko Hirschmuller, Michael Suppa
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We introduce our new quadrotor platform for realizing autonomous navigation in unknown indoor/outdoor environments.  ...  Keyframebased stereo odometry is fused with IMU data compensating for time delays that are induced by the vision pipeline. The system state estimate is used for control and on-board 3D mapping.  ...  Furthermore, we would like to thank Supercomputing Systems (SCS) in Switzerland as well as Uwe Franke and Stefan Gehrig (Daimler AG, Germany) for the FPGA implementation of SGM.  ... 
doi:10.1109/iros.2013.6696922 dblp:conf/iros/SchmidTRHS13 fatcat:4tozyfoznra2nc5uvh6doi6vse

Introduction to the Special Issue on "New Trends towards Automatic Vehicle Control and Perception Systems"

Vicente Milanés, Luis Bergasa
2013 Sensors  
They are mainly based on the classical robotic architectures where the stages of perception-using different sensor sources or even a fusion of a set of them-and planning-where intelligent control systems  ...  Solutions such as building new transport infrastructures-specifically in urban areas where space limitations make it almost impossible-or increasing fines for inappropriate driving have not achieved the  ...  The accepted papers underwent final revision and approval for publication in a second round of reviewing.  ... 
doi:10.3390/s130505712 pmid:23645108 pmcid:PMC3690024 fatcat:4ueqfenmyje7vdr75qqkgz535u

Real-time stereo matching: A cross-based local approach

Jiangbo Lu, Ke Zhang, Gauthier Lafruit, Francky Catthoor
2009 2009 IEEE International Conference on Acoustics, Speech and Signal Processing  
We propose an area-based local stereo matching algorithm that yields accurate disparity estimates, while achieving the real-time speed completely on the graphics processing unit (GPU).  ...  Approximating scene structures accurately, the proposed method is among the best-performing real-time stereo methods according to the benchmark Middlebury stereo evaluation.  ...  However, these state-of-the-art stereo methods are still far from online processing, making them inappropriate for practical applications with a stringent real-time requirement, e.g., robot navigation  ... 
doi:10.1109/icassp.2009.4959688 dblp:conf/icassp/LuZLC09 fatcat:zdmvoc2knfhytd73k3owstzwrq

Learning terrain segmentation with classifier ensembles for autonomous robot navigation in unstructured environments

Michael J. Procopio, Jane Mulligan, Greg Grudic
2009 Journal of Field Robotics  
Autonomous robot navigation in unstructured outdoor environments is a challenging area of active research and is currently unsolved.  ...  Stereo is an effective tool in the near field, but used alone leads to a common failure mode in autonomous navigation in which suboptimal trajectories are followed due to nearsightedness, or the robot's  ...  Department of Energy under contract DE-ACO4-94AL85000) in sponsoring his Ph.D. research at the University of Colorado at Boulder.  ... 
doi:10.1002/rob.20279 fatcat:gj4i466wgbgvzj5zw5hoixvzki

Curious George: An attentive semantic robot

David Meger, Per-Erik Forssén, Kevin Lai, Scott Helmer, Sancho McCann, Tristram Southey, Matthew Baumann, James J. Little, David G. Lowe
2008 Robotics and Autonomous Systems  
structure from stereo, and a localisation and mapping technique.  ...  State-of-the-art methods have recently achieved impressive performance for recognising the objects present in large databases of pre-collected images.  ...  In such environments, challenges include the level of clutter, number of distinct objects, challenging 3-D navigation, dynamic environments, and need to operate in real time, among many others.  ... 
doi:10.1016/j.robot.2008.03.008 fatcat:afnsd75cw5fhtjc446oua7akuy

Software and Hardware Implementations of Stereo Matching

Li Zhou, Tao Sun, Yuanzhi Zhang, Jia Wang
2014 International Journal of Signal Processing, Image Processing and Pattern Recognition  
Stereo matching is one of the key technologies in stereo vision system due to its ultra high data bandwidth requirement, heavy memory accessing and algorithm complexity.  ...  Among them, GPU, FPGA and ASIC implementations are suitable for real-time embedded stereo matching applications, because they are low power consumption, low cost, and have high performance.  ...  The authors would like to thank all research partners for their significant contributions in this work.  ... 
doi:10.14257/ijsip.2014.7.4.04 fatcat:z7nzhqbw55fpbipge35uqo2xre

Stereo for robots: Quantitative evaluation of efficient and low-memory dense stereo algorithms

Federico Tombari, Stefano Mattoccia, Luigi Di Stefano
2010 2010 11th International Conference on Control Automation Robotics & Vision  
Despite the significant number of stereo vision algorithms proposed in literature in the last decade, most proposals are notably computationally demanding and/or memory hungry so that it is unfeasible  ...  to employ them in application scenarios requiring real-time or near real-time processing on platforms with limited resources such as embedded devices.  ...  that can run in real-time, such as e.g. the stereo algorithm included in the OpenCV library [7] .  ... 
doi:10.1109/icarcv.2010.5707826 dblp:conf/icarcv/TombariMS10 fatcat:fayymr3qonactfhzrfnkft4ktq

Obstacle Avoidance Using Stereo Vision: A Survey

Pritesh S. Sharma, Dr. Nehal G. Chitaliya
2015 International Journal of Innovative Research in Computer and Communication Engineering  
One of the most important features for any intelligent ground vehicle is based on how is reliable and complete the perception of the environment and the capability to discriminate what an obstacle is.  ...  Stereo vision system provides pair of stereo images to determine distance after the detecting the object and measure distance from it and avoid the object.  ...  So defined, passive stereo vision happens to be very attractive for many applications in robotics, including 3-D object recognition and localization as well as 3-D navigation of mobile robots [18] .  ... 
doi:10.15680/ijircce.2015.0301005 fatcat:dhouhkcmezffzk6xfdzb765y7u

A Survey of FPGA-Based Robotic Computing [article]

Zishen Wan, Bo Yu, Thomas Yuang Li, Jie Tang, Yuhao Zhu, Yu Wang, Arijit Raychowdhury, Shaoshan Liu
2021 arXiv   pre-print
In this paper, we give an overview of previous work on FPGA-based robotic accelerators covering different stages of the robotic system pipeline.  ...  With specialized designed hardware logic and algorithm kernels, FPGA-based accelerators can surpass CPU and GPU in performance and energy efficiency.  ...  Besides real-time constraint, motion planning algorithms also have flexibility requirements to make the robots adapt to dynamic environments.  ... 
arXiv:2009.06034v3 fatcat:fnp5q5wcyrd2hgpllso22mv2xm

High-Quality Real-Time Stereo Using Adaptive Cost Aggregation and Dynamic Programming

Liang Wang, Miao Liao, Minglun Gong, Ruigang Yang, David Nister
2006 Third International Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT'06)  
We present a stereo algorithm that achieves high quality results while maintaining real-time performance.  ...  Evaluation using the benchmark Middlebury stereo database shows that our approach is among the best (ranked first in the new evaluation system) for DP-based approaches.  ...  Acknowledgements This work is supported in part by University of Kentucky Research Foundation, US Department of Homeland Security, and US National Science Foundation grant IIS-0448185.  ... 
doi:10.1109/3dpvt.2006.75 dblp:conf/3dpvt/WangLGYN06 fatcat:ftnrvk3dlbhanidcui237bpbjm

Radiometric Invariant Dense Disparity Estimation for Real Time Stereo Correspondence

Deepambika V. A., M. Abdul Rahiman
2019 Journal of Computer Science  
This radiometric invariant stereo correspondence attains accuracy as that of global method with run time speed as that of local method and is suitable for most of the real time stereo vision applications  ...  In this work, for doing the radiometric invariant stereo matching, the simple local binary pattern is used.  ...  Author Contributions Deepambika V.A.: Has done the algorithm implementation, analysis and preparation of the manuscript. M.  ... 
doi:10.3844/jcssp.2019.450.462 fatcat:os2sk77yifc67ijgg2q6zbltku

REal-time local stereo matching using guided image filtering

Asmaa Hosni, Michael Bleyer, Christoph Rhemann, Margrit Gelautz, Carsten Rother
2011 2011 IEEE International Conference on Multimedia and Expo  
According to the Middlebury on-line ranking, our algorithm achieves rank 14 out of over 100 submissions and is not only the best performing local stereo matching method, but also the best performing real-time  ...  Adaptive support weight algorithms represent the state-ofthe-art in local stereo matching.  ...  INTRODUCTION Real-time stereo matching algorithms are important in many applications such as virtual reality, on-line robotics navigation and teleconferencing.  ... 
doi:10.1109/icme.2011.6012131 dblp:conf/icmcs/HosniBRGR11 fatcat:h6xatz364bftzhu2r2micttefq

Stereo Correspondence Estimation by Two Dimensional Real Time Spiral Search Algorithm

2020 International Journal of Engineering and Advanced Technology  
This paper presents a new searching algorithm titled "Two Dimensional Real Time Spiral Search Algorithm (2DRTSSA)" to compute the stereo correspondence or dense disparity map of two rectified images.  ...  The proposed algorithm can estimate the minimum stereo correspondence or disparity among all the window costs of a fixed axis from minimum to maximum range of that axis.  ...  Now a days it challenges to compute the disparity in real time based applications.  ... 
doi:10.35940/ijeat.d8592.069520 fatcat:xozxjn3c3zbpdkwgdz4y7eh5du

Mobility Enhancement for Elderly [article]

Ramviyas Parasuraman
2014 arXiv   pre-print
We have implemented speech recognition algorithm using template of stored words for identifying the voice command given by the user.  ...  Also, we have developed a new appearance based obstacle detection system using stereo-vision cameras which estimates the distance of nearest obstacle to the wheel chair and takes necessary action.  ...  Horswill used a similar method for his mobile robots Polly and Frankie, which operated in a real time environment [6] .  ... 
arXiv:1410.5600v1 fatcat:vwqxos354ndkrilqt5oqhkhnje
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