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

Volume

2

fYear

2012

fDate

26-27 Aug. 2012

Firstpage

302

Lastpage

305

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/IHMSC.2012.168

Filename

6305782