Abstract
In this work we deal with the matching process problem using stereo images from real world terrains taken with a Videre STH- DCSG 9mm stereoscopic system. A series of matching algorithms are used, as part of the global stereoscopic process, with the purpose of creating a 3D reconstruction for robotic autonomous navigation in natural and non-structured environments. First, a study about the effects of applying homomorphic filtering to the input images previous to the matching process is carried out. Using this method, a significant enhancement in the disparity map is achieved, obtaining a greater number of true correspondences in relation to applying no filtering at all. Then, a filtering process over the disparities map driven by clusters and based in a spatial continuity premise dismisses false positives or wrong correspondences. Both filtering processes are the main contribution of this work.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
More From: Revista Iberoamericana de Automática e Informática Industrial RIAI
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.