Abstract
The reconstruction and mapping of real scenes is a crucial element in several fields such as robot navigation. Stereo vision can be a powerful solution. However the perspective effect arises, as well as other problems, when the reconstruction is tackled using depth maps obtained from stereo images. A new approach is proposed to avoid the perspective effect, based on a geometrical rectification using the vanishing point of the image. It also uses sub-pixel precision to solve the lack of information for distant objects. Finally, the method is applied to map a whole scene, introducing a cubic filter.
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Gallego, A.J., Molina, R., Compan̈, P., Villagrá, C. (2007). Rectified Reconstruction from Stereo Pairs and Robot Mapping. In: Kropatsch, W.G., Kampel, M., Hanbury, A. (eds) Computer Analysis of Images and Patterns. CAIP 2007. Lecture Notes in Computer Science, vol 4673. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74272-2_18
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DOI: https://doi.org/10.1007/978-3-540-74272-2_18
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-74271-5
Online ISBN: 978-3-540-74272-2
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