Omnistereo: Panoramic Stereo Imaging
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Fast Approximate Energy Minimization via Graph Cuts
IEEE Transactions on Pattern Analysis and Machine Intelligence
Globally Consistent Range Scan Alignment for Environment Mapping
Autonomous Robots
A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms
International Journal of Computer Vision
A Maximum-Flow Formulation of the N-Camera Stereo Correspondence Problem
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
What Energy Functions Can Be Minimizedvia Graph Cuts?
IEEE Transactions on Pattern Analysis and Machine Intelligence
An Experimental Comparison of Min-Cut/Max-Flow Algorithms for Energy Minimization in Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
3D Modeling of Indoor Environments for a Robotic Security Guard
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Workshops - Volume 03
CRV '06 Proceedings of the The 3rd Canadian Conference on Computer and Robot Vision
Adaptive probabilistic tracking embedded in smart cameras for distributed surveillance in a 3D model
EURASIP Journal on Embedded Systems
Dense disparity estimation from omnidirectional images
AVSS '07 Proceedings of the 2007 IEEE Conference on Advanced Video and Signal Based Surveillance
Energy efficient intrusion detection in camera sensor networks
DCOSS'07 Proceedings of the 3rd IEEE international conference on Distributed computing in sensor systems
Reliable depth map regeneration via a novel omnidirectional stereo sensor
ISVC'07 Proceedings of the 3rd international conference on Advances in visual computing - Volume Part I
Robotics and Autonomous Systems
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Efficient and comfortable acquisition of large 3D scenes is an important topic for many current and future applications in the field of robotics, factory and office visualization, 3DTV and cultural heritage. In this paper we present both an omnidirectional stereo vision approach for 3D modeling based on graph cut techniques and also a new mobile 3D model acquisition platform where it is employed. The platform comprises a panoramic camera and a 2D laser range scanner for self localization by scan matching. 3D models are acquired just by moving the platform around and recording images in regular intervals. Additionally, we concurrently build 3D models using two supplementary laser range scanners. This enables the investigation of the stereo algorithm's quality by comparing it with the laser scanner based 3D model as ground truth. This offers a more objective point of view on the achieved 3D model quality.