2-D curve matching using high curvature points: application to stereo vision

The authors present an efficient approach for reliably matching a set of points extracted from the environment of a mobile robot by means of passive stereo vision using two or three cameras. First, feature points corresponding to points with high curvature are extracted from each image using an efficient approach. The epipolar geometry and some powerful configuration constraints are then combined to match these points. A correspondence between curves is then established using the figural continuity. Results obtained on real images are given