...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Advanced Robotics: The International Journal of the Robotics Society of Japan >Terrain mapping under extreme light conditions with direct stereo matching method through aggregating matching costs by weight
【24h】

Terrain mapping under extreme light conditions with direct stereo matching method through aggregating matching costs by weight

机译：通过按重量汇总匹配成本，使用直接立体匹配方法在极端光照条件下进行地形映射

获取原文
获取原文并翻译 | 示例
   

获取外文期刊封面封底 >>

       
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

One of the biggest problems in applying stereo vision techniques in field robotics is how to acquire 3D terrain maps under extreme light conditions. Through multiple exposures, the dynamic range of images can be increased. In this paper, instead of using existing lighting enhancement methods such as exposure fusion to increase the texture of 2D image, we propose that the matching costs of the images grabbed with multiple exposures are directly summed by weight. Compared with the previous methods such as exposure fusion, with the proposed method, it is not necessary to fuse the 2D images captured with multiple exposures, and for each pixel of the matching image, the local information in its local window can be better retained. Since it is possible that the camera is moved between exposures when the images are grabbed, the images captured with multiple exposures are aligned to the image acquired with auto exposure. In order to evaluate the performance of the proposed method, two different stereo matching algorithms were used: a local window-based method and semi-global method. Through experiments in laboratory and outdoors with a stereo vision camera fixed on a tripod and held in the hand, it was verified that the proposed method consistently allowed more valid points to be obtained and the 3D model of terrain can be built more accurately. Especially when the local window-based method was used, the proposed method performed much better.
机译：将立体视觉技术应用于现场机器人的最大问题之一是如何在极端光照条件下获取3D地形图。通过多次曝光，可以增加图像的动态范围。在本文中，代替使用现有的光照增强方法（例如曝光融合）来增加2D图像的纹理，我们建议将多次曝光拍摄的图像的匹配成本直接按权重相加。与诸如曝光融合之类的先前方法相比，利用所提出的方法，不需要融合通过多次曝光捕获的2D图像，并且对于匹配图像的每个像素，可以更好地保留其局部窗口中的局部信息。由于在抓取图像时可能会在两次曝光之间移动相机，因此将多次曝光拍摄的图像与自动曝光获取的图像对齐。为了评估该方法的性能，使用了两种不同的立体声匹配算法：基于局部窗口的方法和半全局方法。通过在实验室和室外使用固定在三脚架上并手持的立体视觉相机进行的实验，证明了该方法始终可以获取更多有效点，并且可以更准确地构建地形3D模型。特别是当使用基于局部窗口的方法时，所提出的方法执行得更好。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号