Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
A compact algorithm for rectification of stereo pairs
Machine Vision and Applications
A PC-based real-time stereo vision system
Machine Graphics & Vision International Journal
TerraMax™: Team Oshkosh urban robot
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part III
Intelligent overhead sensor for sliding doors: a stereo based method for augmented efficiency
ICIAP'11 Proceedings of the 16th international conference on Image analysis and processing: Part I
Robotics and Autonomous Systems
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Generating a depth map from a pair of stereo images is a challenging task, which is often further complicated by the additional restrictions imposed by the target application; in the automotive field, for example, real-time environment reconstruction is essential for safety and autonomous navigation systems, thus requiring reduced processing times, often at the expense of a somewhat limited degree of accuracy in the results. Nevertheless, a-priori knowledge on the intended use of the algorithm can also be exploited to improve its performance, both in terms of precision and computational burden. This paper presents three different approaches to incremental Disparity Space Image (DSI) computation, which leverage the properties of a stereo-vision system installed on a vehicle to produce accurate depth maps at sustained frame rates on commodity hardware.