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학술대회 Robust Real-Time Stereo Matching System for Indoor Environments
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저자
장지호, 정재찬, 최승민
발행일
201510
출처
International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2015, pp.102-102
DOI
https://dx.doi.org/10.1109/URAI.2015.7358972
초록
Stereo matching is a traditional method used for obtaining three-dimensional depth information and has been studied for decades. However, it is still difficult to apply stereo matching algorithms to practical devices because of certain real-time issues and performance issues due to untextured regions, radial distortion, etc. Therefore, recent applications use active methods such as structured light (Kinect). However, applications using Kinect cannot accurately calculate the disparity for thin objects at distances of more than 3 m, because they use low-resolution images and structured patterns having points separated by large distances. In this paper, we propose a real-time stereo matching system to remedy the disadvantages of active and passive stereo vision. Further, we present a video that shows a qualitative comparison between Kinect 1, Kinect 2, and the proposed system, including point cloud results.
키워드
disparity map, Hybrid stereo vision, real-time system
KSP 제안 키워드
Active and passive, Active methods, Depth information, Disparity Map, Hybrid stereo vision, Indoor Environment, Kinect 2, Low-resolution images, Matching System, Point Cloud, Qualitative Comparison