Direct Ground Surface Reconstruction from Stereo Images

• Item type: Trans(1)
• 公開日: 2013-07-29
• 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: eng
• キーワード / 主題Scheme: Other
• キーワード / 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
• 著者所属(英): Tokyo Institute of Technology
• 著者所属(英): en
• 著者所属(英): Tokyo Institute of Technology
• 著者所属(英): en
• 著者所属(英): Tokyo Institute of Technology
• 著者所属(英): en
• 著者所属(英): Tokyo Institute of Technology
• 著者名: Shigeki, Sugimoto; Takaaki, Kato; Kouma, Motooka; Masatoshi, Okutomi
• 著者名(英): Shigeki, Sugimoto; Takaaki, Kato; Kouma, Motooka; Masatoshi, Okutomi
• 論文抄録 / 内容記述タイプ: Other
• 論文抄録 / 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
• 論文抄録(英) / 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
• ISSN / 収録物識別子: 1882-6695
• 出版者 / 言語: ja
• 出版者: 情報処理学会