Validation of Stereo Matching for Robot Navigation

• In this paper a new method is presented for evaluat- ing visual stereo matching. Features are extracted and stereo paired according to their vertical positions in the image, with constraints on the horizontal position, leaving only sane, possible pairs. From feature pairs landmarks are constructed. The landmarks are evaluated using mo- tion estimation from a complementary relative naviga- tion system like odometry, only landmarks calculated from correctly paired features should survive the motion, thus transferring the problem into three dimensional space.

Publikations- och innehållstyp

ref (ämneskategori)

kon (ämneskategori)