30 September 2003 Multibaseline stereo system for evaluation of binocular stereo
Author Affiliations +
Abstract
Binocular, correlation based stereo has been a key component in many efforts at autonomous vehicle navigation. However, estimation of ground truth range data, especially in field conditions, remains a challenge. We present a 5 camera, multibaseline stereo system and demonstrate its use as a passive ground truthing mechanism for binocular stereo. In this paper, we provide both a system description and a detailed overview of a novel depth-based multibaseline stereo algorithm. Our new algorithm avoids the need for pairwise camera rectification. We conclude with several simulations and real world experiments to verify our results.
© (2003) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Adnan I Ansar, Adnan I Ansar, Larry Henry Matthies, Larry Henry Matthies, } "Multibaseline stereo system for evaluation of binocular stereo", Proc. SPIE 5083, Unmanned Ground Vehicle Technology V, (30 September 2003); doi: 10.1117/12.487040; https://doi.org/10.1117/12.487040
PROCEEDINGS
10 PAGES


SHARE
RELATED CONTENT


Back to Top