Recovering a boundary-level structural description from dynamic stereo

The authors present a stereo algorithm to recursively compute a boundary-level structural description of a scene, from a sequence of stereo images. This algorithm utilizes connected line segments as the basic match primitive, which yields a description composed primary of boundaries of objects in th...

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Bibliographic Details
Main Authors: Tirumalai, A.P., Schunck, B.G., Jain, R.C.
Format: Conference Proceeding
Language:English
Subjects:
Artificial intelligence
Cameras
Image resolution
Image segmentation
Laboratories
Layout
Mobile robots
Path planning
Robot vision systems
Stereo vision
Online Access:Request full text
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Summary:The authors present a stereo algorithm to recursively compute a boundary-level structural description of a scene, from a sequence of stereo images. This algorithm utilizes connected line segments as the basic match primitive, which yields a description composed primary of boundaries of objects in the scene. A description of this nature is very useful for obstacle avoidance and path planning for mobile robots. The stereo matching algorithm is integrated into a dynamic stereo vision system to compute and incrementally refine such a structural description recursively, using belief functions. The approach is illustrated with a real dynamic stereo sequence acquired from a mobile robot.< >
DOI:10.1109/WVM.1991.212786