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  4. Combination of time-of-flight depth and stereo using semiglobal optimization
 
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2011
Konferenzbeitrag
Titel

Combination of time-of-flight depth and stereo using semiglobal optimization

Abstract
A growing number of modern computer vision applications like object recognition, collision avoidance and scene understanding demand accurate and dense 3D representations of their environment. To improve existing procedures for 3D data acquisition this paper proposes a novel method for sensor combination on a stereo and a Time-of-Flight camera system. By calibrating the two sensor systems to each other, valid measurements from the 2.5D Time-of-Flight sensor are converted to disparity guesses within the stereo system. The disparity guesses from the Time-of-Flight data constrain the correspondence search results from the stereo matching algorithm. It is empirically shown, that the proposed method effectively enhance the results from stereo vision, especially in structureless areas where stereo correspondence search fails. The method is evaluated on the camera system of the service robot Care-O-bot®3.
Author(s)
Fischer, Jan
Arbeiter, Georg
Verl, Alexander
Hauptwerk
IEEE International Conference on Robotics and Automation, ICRA 2011. DVD
Konferenz
International Conference on Robotics and Automation (ICRA) 2011
Workshop Semantic Perception, Mapping and Exploration (SPME) 2011
DOI
10.1109/ICRA.2011.5979999
File(s)
002.pdf (1.42 MB)
Language
Englisch
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IPA
Tags
  • service robot

  • time-of-flight

  • maschinelles Sehen

  • stereo vision

  • RGB-D

  • Roboter

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