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[Advanced Control Systems Group] [Autonomous Mobile Robotics Group]





Mobile Robots Localization and Map Building


Stereo Image Registration Based on RANSAC with Selective Hypothesis Generation

Stereo Image Registration Based on RANSAC with Selective Hypothesis Generation


An approach for registration of sparse feature sets detected in stereo images taken from two different views is proposed. The approach is based on the RANSAC paradigm which ensures robustness to outliers. The strategy proposed in this work is to apply a multi-step procedure in the hypothesis generation stage of RANSAC using approximate information about the relative camera pose between the two views obtained e.g. by odometry. The data is taken from the input data set one by one and used to pose a geometric constraint for selection of the next data. This strategy reduces the number of false hypothesis in the RANSAC procedure. The presented technique is evaluated using both synthetic data and real data obtained by a stereo camera system mounted on a mobile robot.

For more details see our paper "Stereo Image Registration Based on RANSAC with Selective Hypothesis Generation" ( PDF ).


 

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