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  1. 論文誌(トランザクション)
  2. Computer Vision and Applications(CVA)
  3. Vol.5

Direct Ground Surface Reconstruction from Stereo Images

https://ipsj.ixsq.nii.ac.jp/records/94699
https://ipsj.ixsq.nii.ac.jp/records/94699
13c02e2c-bb9f-43ce-89ba-31320fdc60e0
名前 / ファイル ライセンス アクション
IPSJ-TCVA0500011.pdf IPSJ-TCVA0500011.pdf (3.7 MB)
Copyright (c) 2013 by the Information Processing Society of Japan
オープンアクセス
Item type Trans(1)
公開日 2013-07-29
タイトル
タイトル Direct Ground Surface Reconstruction from Stereo Images
タイトル
言語 en
タイトル Direct Ground Surface Reconstruction from Stereo Images
言語
言語 eng
キーワード
主題Scheme Other
主題 [Regular Paper - Express Paper] ground surface estimation, square grid, stereo vision, direct image alignment
資源タイプ
資源タイプ識別子 http://purl.org/coar/resource_type/c_6501
資源タイプ journal article
著者所属
Tokyo Institute of Technology
著者所属
Tokyo Institute of Technology
著者所属
Tokyo Institute of Technology
著者所属
Tokyo Institute of Technology
著者所属(英)
en
Tokyo Institute of Technology
著者所属(英)
en
Tokyo Institute of Technology
著者所属(英)
en
Tokyo Institute of Technology
著者所属(英)
en
Tokyo Institute of Technology
著者名 Shigeki, Sugimoto Takaaki, Kato Kouma, Motooka Masatoshi, Okutomi

× Shigeki, Sugimoto Takaaki, Kato Kouma, Motooka Masatoshi, Okutomi

Shigeki, Sugimoto
Takaaki, Kato
Kouma, Motooka
Masatoshi, Okutomi

Search repository
著者名(英) Shigeki, Sugimoto Takaaki, Kato Kouma, Motooka Masatoshi, Okutomi

× Shigeki, Sugimoto Takaaki, Kato Kouma, Motooka Masatoshi, Okutomi

en Shigeki, Sugimoto
Takaaki, Kato
Kouma, Motooka
Masatoshi, Okutomi

Search repository
論文抄録
内容記述タイプ Other
内容記述 We propose a method for directly estimating a square grid ground surface from stereo images. We estimate the heights of all vertices in a square mesh, in which each square is divided into two triangular patches, drawn on a level plane of the ground, from a pair of images captured by nearly front-looking stereo cameras. We formulate a data term, representing the sum of the squared differences of photometrically transformed pixel values in homography-related projective triangular patches between the two stereo images, by the inverse compositional trick for both surface and photometric parameters for realizing an efficient estimation algorithm. The main difficulty of this problem formulation lies in the estimation instability for the heights of the distant vertices from the cameras, since the image projections of the distant triangular patches are crushed in the images. We effectively improve the stability by the combinational use of an additional smoothness term, update constraint term, and a hierarchical meshing approach. We demonstrate the validity of the proposed method through experiments using real images, and the usability for mobile robots by showing traversable area detection results on the ground surfaces estimated by the proposed method.
論文抄録(英)
内容記述タイプ Other
内容記述 We propose a method for directly estimating a square grid ground surface from stereo images. We estimate the heights of all vertices in a square mesh, in which each square is divided into two triangular patches, drawn on a level plane of the ground, from a pair of images captured by nearly front-looking stereo cameras. We formulate a data term, representing the sum of the squared differences of photometrically transformed pixel values in homography-related projective triangular patches between the two stereo images, by the inverse compositional trick for both surface and photometric parameters for realizing an efficient estimation algorithm. The main difficulty of this problem formulation lies in the estimation instability for the heights of the distant vertices from the cameras, since the image projections of the distant triangular patches are crushed in the images. We effectively improve the stability by the combinational use of an additional smoothness term, update constraint term, and a hierarchical meshing approach. We demonstrate the validity of the proposed method through experiments using real images, and the usability for mobile robots by showing traversable area detection results on the ground surfaces estimated by the proposed method.
書誌情報 IPSJ Transactions on Computer Vision and Applications (CVA)

巻 5, p. 60-64, 発行日 2013-07-29
ISSN
収録物識別子タイプ ISSN
収録物識別子 1882-6695
出版者
言語 ja
出版者 情報処理学会
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