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IBPRIA
2007
Springer

Mosaicking Cluttered Ground Planes Based on Stereo Vision

14 years 5 months ago
Mosaicking Cluttered Ground Planes Based on Stereo Vision
Recent stereo cameras provide reliable 3D reconstructions. These are useful for selecting ground-plane points, register them and building mosaics of cluttered ground planes. In this paper we propose a 2D Iterated Closest Point (ICP) registration method, based on the distance transform, combined with a fine-tuning-registration step using directly the image data. Experiments with real data show that ICP is robust to 3D reconstruction differences due to motion and the fine tuning step minimizes the effect of the uncertainty in the 3D reconstructions.
José António Gaspar, Miguel Realpe,
Added 08 Jun 2010
Updated 08 Jun 2010
Type Conference
Year 2007
Where IBPRIA
Authors José António Gaspar, Miguel Realpe, Boris Xavier Vintimilla, José Santos-Victor
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