Automated Image Rectification of Uncalibrated Stereo Cameras
Date Issued
2004
Date
2004
Author(s)
Zhang, Yu-Wei
DOI
en-US
Abstract
Using machine stereovision for the guidance of mobile robot needs to extract the 3D information from images captured at different viewpoints. The image rectification can transform the associated images into a format, which have the horizontal image lines coinciding with the epipolar lines. Thus the stereo matching can search in the rectified images simply along epipolar lines, which is basically one-dimensional. Rectification of uncalibrated images needs to know no less than eight pairs of corresponding points to estimate the homographies. Conventional approach presented in literature provides the corresponding points by manual selections. This research develops an automated method of matching color patterns to find the required number of corresponding points. A pair of corresponding points is estimated as the centroid of a pair of corresponding color patterns. The patterns are discriminated by according to their color, intensity and shape. This automated approach is shown to be efficient and accurate. Experimental results from two sets of binocular camera are shown.
Subjects
立體機器視覺
對應點
影像對正
共極線
立體攝影機
epipolar lines
stereovision
rectification
homographies
uncalibrated
Type
thesis
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