Title :
A New Algorithm for Three-dimensional Construction Based on the Robot Binocular Stereo Vision System
Author :
Zhao, Feng ; Jiang, Zengru
Author_Institution :
Beijing Inst. of Technol., Beijing, China
Abstract :
3D vision location is one of the most famous researches in computer stereo vision area. However, the traditional algorithm is not only complicated but low-matched. We proposed a new algorithm in this article: First of all, we use Zhang Zhengyou camera calibration methods for vision calibration. Secondly, Epipolar constraint, NCC similarity measure and disparity gradient compatibility are individually used in different stages of sparse feature based stereo matching. The last, least squares space coplanar approximation is used to obtain the 3D coordinates of matching points. It has been proved not only operated easily but provided with high stability and robustness.
Keywords :
calibration; cameras; feature extraction; image matching; least squares approximations; robot vision; stereo image processing; 3D vision location; NCC similarity measure; Zhang Zhengyou camera calibration methods; computer stereo vision area; disparity gradient compatibility; epipolar constraint; least squares space coplanar approximation; matching points 3D coordinates; robot binocular stereo vision system; sparse feature based stereo matching; three-dimensional construction; vision calibration; Calibration; Cameras; Feature extraction; Robot kinematics; Robot vision systems; Stereo vision; 3D vision location; Epipole constrain; Robot binocular stereo vision; Stereo matching; Vision calibration;
Conference_Titel :
Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2012 4th International Conference on
Conference_Location :
Nanchang, Jiangxi
Print_ISBN :
978-1-4673-1902-7
DOI :
10.1109/IHMSC.2012.168
