Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
A maximum likelihood stereo algorithm
Computer Vision and Image Understanding
Viewpoint Estimation in Three-Dimensional Images Taken with Perspective Range Sensors
IEEE Transactions on Pattern Analysis and Machine Intelligence
Introductory Techniques for 3-D Computer Vision
Introductory Techniques for 3-D Computer Vision
Robust real-time lane and road detection in critical shadow conditions
ISCV '95 Proceedings of the International Symposium on Computer Vision
Rectified reconstruction from stereo pairs and robot mapping
CAIP'07 Proceedings of the 12th international conference on Computer analysis of images and patterns
3D reconstruction and mapping from stereo pairs with geometrical rectification
BVAI'07 Proceedings of the 2nd international conference on Advances in brain, vision and artificial intelligence
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In this paper we present a method for mapping 3D unknown environments from stereo images. It is based on a dense disparity image obtained by a process of window correlation. To each image in the sequence a geometrical rectification process is applied, which is essential to remove the conical perspective of the images obtained with a photographic camera. This process corrects the errors in coordinates x and y to obtain a better matching for the map information. The mapping method is an application of the geometrical rectification and the 3D reconstruction, whose main purpose is to obtain a realistic appearance of the scene