tailieunhanh - Advances in Theory and Applications of Stereo Vision Part 5

Tham khảo tài liệu 'advances in theory and applications of stereo vision part 5', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 90 Advances in Theory and Applications of Stereo Vision the corresponding edges themselves Medioni Nevatia 1985 Pajares Cruz 2006 Ruichek et al. 2007 Scaramuzza et al. 2008 regions Marapane Trivedi 1989 Lopez-Malo Pla 2000 McKinnon Baltes 2004 Herrera et al. 2009 Herrera 2010 or hierarchical approaches Wei Quan 2004 where firstly edges or corners are matched and afterwards the regions. The stereovision system geometry is another issue concerning the application of methods and constraints. Conventional stereovision systems consist of two cameras under perspective projection with the optical axes in parallel Scharstein Szeliski 2002 or in convergence Krotkov 1990 they have a limited field of view. In opposite the omnidirectional stereovision systems allow enhancing the field of view under this category fall the systems in which the optics and consequently the image projection is based on fish-eye lenses Abraham Forstner 2005 Schwalbe 2005 Herrera et al. 2009a b c d Herrera 2010 . Depending on the application for which the stereovision system is to be designed one must choose either area-based or feature-based the system geometry and also the strategy for combining the different constraints. In this chapter we focus the attention on the combination of the matching constraints. As features we use area-based when the pixels are the basic elements to be matched and also feature-based with straight line segments and regions. Moreover both area-based and feature-based are used in conventional and omnidirectional stereovision systems with parallel optical axes. The main contribution of this work is the design of a general scheme with three approaches for combining the matching constraints. The aim is to solve different stereovision correspondence problems. The chapter is organised as follows. In section 2 we give details about the three approaches for combining the matching constraints. In sections 3 4 and 5 these approaches are explained giving details about their .