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Validation of Stereo Matching for Robot Navigation

Fulltext:


Authors:

Jörgen Lidholm, Giacomo Spampinato , Lars Asplund

Research group:

Robotics

Publication Type:

Conference/Workshop Paper

Venue:

14th IEEE International Conference on emerging Technologies and Factory Automation ETFA 2009

Abstract

In this paper a new method is presented for evaluat- ing visual stereo matching. Features are extracted and stereo paired according to their vertical positions in the image, with constraints on the horizontal position, leaving only sane, possible pairs. From feature pairs landmarks are constructed. The landmarks are evaluated using mo- tion estimation from a complementary relative naviga- tion system like odometry, only landmarks calculated from correctly paired features should survive the motion, thus transferring the problem into three dimensional space.

Bibtex

@inproceedings{Lidholm1532,
author = {J{\"o}rgen Lidholm and Giacomo Spampinato and Lars Asplund},
title = {Validation of Stereo Matching for Robot Navigation},
month = {September},
year = {2009},
booktitle = {14th IEEE International Conference on emerging Technologies and Factory Automation ETFA 2009},
url = {http://www.es.mdu.se/publications/1532-}
}