Efficient hierarchical matching algorithm for processing uncalibrated stereo vision images and its hardware architecture
Efficient hierarchical matching algorithm for processing uncalibrated stereo vision images and its hardware architecture
- Author(s): L. Nalpantidis ; A. Amanatiadis ; G.Ch. Sirakoulis ; A. Gasteratos
- DOI: 10.1049/iet-ipr.2009.0262
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- Author(s): L. Nalpantidis 1 ; A. Amanatiadis 2 ; G.Ch. Sirakoulis 2 ; A. Gasteratos 1
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View affiliations
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Affiliations:
1: Laboratory of Robotics and Automation, Department of Production and Management Engineering, Democritus University of Thrace, Xanthi, Greece
2: Laboratory of Electronics, Department of Electrical and Computer Engineering, Democritus University of Thrace, Xanthi, Greece
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Affiliations:
1: Laboratory of Robotics and Automation, Department of Production and Management Engineering, Democritus University of Thrace, Xanthi, Greece
- Source:
Volume 5, Issue 5,
August 2011,
p.
481 – 492
DOI: 10.1049/iet-ipr.2009.0262 , Print ISSN 1751-9659, Online ISSN 1751-9667
In motion estimation, the sub-pixel matching technique involves the search of sub-sample positions as well as integer-sample positions between the image pairs, choosing the one that gives the best match. Based on this idea, this work proposes an estimation algorithm, which performs a 2-D correspondence search using a hierarchical search pattern. The intermediate results are refined by 3-D cellular automata (CA). The disparity value is then defined using the distance of the matching position. Therefore the proposed algorithm can process uncalibrated and non-rectified stereo image pairs, maintaining the computational load within reasonable levels. Additionally, a hardware architecture of the algorithm is deployed. Its performance has been evaluated on both synthetic and real self-captured image sets. Its attributes, make the proposed method suitable for autonomous outdoor robotic applications.
Inspec keywords: cellular automata; stereo image processing; motion estimation; robot vision
Other keywords:
Subjects: Automata theory; Robotics; Computer vision and image processing techniques; Optical, image and video signal processing; Image sensors
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