Establishing Correspondence and Obtaining 3‐D Information in Dynamic Images

Abstract

AbstractTo establish correspondences between dynamic images, methods based on their local similarity such as the correlation method have been used widely. If corresponding points are searched over the whole image, however, the computation time and risk of occurrence of false correspondences increase. Therefore, it is important to restrict the search area.This paper proposes a reliable and efficient method of establishing correspondences among the sequences of dynamic images by using geometrical constraint conditions derived from the positional relationship of viewpoints before and after a movement. Also proposed is another method by which the correspondences between images formed by the binocular view of a mobile robot and the correspondences between images formed before and after a movement can be carried out simultaneously. The experimental results show that the correspondences of dynamic stereo images and the range information are obtained successfully.