A new feature detector and stereo matching method for accurate high-performance sparse stereo matching

Show simple item record

dc.contributor.author Schauwecker, K en
dc.contributor.author Klette, Reinhard en
dc.contributor.author Zell, A en
dc.coverage.spatial Vilamoura, Algarve, Portugal en
dc.date.accessioned 2015-02-26T22:43:28Z en
dc.date.issued 2012 en
dc.identifier.citation 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Algarve, Portugal, 07 Oct 2012 - 12 Oct 2012. IEEE International Conference on Intelligent Robots and Systems. 5171-5176. 2012 en
dc.identifier.issn 2153-0858 en
dc.identifier.uri http://hdl.handle.net/2292/24687 en
dc.description.abstract Hardware platforms with limited processing power are often incapable of running dense stereo analysis algorithms at acceptable speed. Sparse algorithms provide an alternative but generally lack in accuracy. To overcome this predicament, we present an efficient sparse stereo analysis algorithm that applies a dense consistency check, leading to accurate matching results. We further improve matching accuracy by introducing a new feature detector based on FAST, which exhibits a less clustered feature distribution. The new feature detector leads to a superior performance of our stereo analysis algorithm. Performance evaluation shows that the proposed stereo matching system achieves processing rates above 200 frames per second on a commodity dual core CPU, and faster than video frame-rate processing on a low-performance embedded platform. The stereo matching results prove to be superior to those obtained with ordinary sparse matching algorithms. en
dc.relation.ispartof 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) en
dc.relation.ispartofseries IEEE International Conference on Intelligent Robots and Systems en
dc.rights Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher. en
dc.rights.uri https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm en
dc.title A new feature detector and stereo matching method for accurate high-performance sparse stereo matching en
dc.type Conference Item en
dc.identifier.doi 10.1109/IROS.2012.6385492 en
pubs.begin-page 5171 en
pubs.end-page 5176 en
pubs.finish-date 2012-10-12 en
pubs.start-date 2012-10-07 en
dc.rights.accessrights http://purl.org/eprint/accessRights/RestrictedAccess en
pubs.subtype Abstract en
pubs.elements-id 372765 en
dc.identifier.eissn 2153-0866 en
pubs.record-created-at-source-date 2015-02-27 en


Files in this item

There are no files associated with this item.

Find Full text

This item appears in the following Collection(s)

Show simple item record

Share

Search ResearchSpace


Browse

Statistics