Automatically assigned DDC number: 00637

Manually assigned DDC number: 00637

Number of references: 4

Title: A Robust and Convergent Iterative Approach for Determining the Dominant Plane From Two Views Without Correspondence and Calibration

Author:

Author:

Author:

Subject: Num Analysis,Comp Science,Christoph Schnorr A Robust and Convergent Iterative Approach for Determining the Dominant Plane From Two Views Without Correspondence and Calibration

Description: A robust, iterative approach is introduced for finding the dominant plane in a scene using binocular vision. Neither camera calibration nor stereo correspondence is required. Recently Cohen formalized a framework guaranteeing (local) convergence of iterative two-step methods. In this paper, the framework is adopted, with a global step using tentative matches to estimate the planar projectivity, and a local step attempting to solve the stereo correspondence. A detected point in the first image is matched to an auxiliary point in the second image, on the line joining the transformed first image point, and its closest detected second image point. Convergence is assured, while achieving robustness to both mismatching and non-coplanar points. 1. Introduction Since active robots change their visual attention by altering the camera parameters, they continuously require a recalibration. Therefore active robots cannot reconstruct any metric information about its surroundings, but it is still p...

Contributor: The Pennsylvania State University CiteSeer Archives

Publisher: unknown

Date: 1998-04-08

Pubyear: 1997

Format: ps

Identifier: http://citeseer.ist.psu.edu/150242.html

Source: http://kogs-www.informatik.uni-hamburg.de/~schnoerr/papers/CVPR97.ps.gz

Language: en

Relation:

Relation:

Relation:

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Rights: unrestricted

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