Stereo Matching-Based Low-Textured Scene Reconstruction for ALV Navigation
Low-texture scene reconstruction using stereo matching for ALV navigation still remains challenging. In low-textured regions, local algorithms are guaranteed to fail and global algorithms are too time-consuming. Based on the Phong illumination model, a proposition that the lowtextured region in an image is likely to correspond to a 3D plane is made in this paper. Then, local algorithms are used to matching the pixels in welltextured regions. On the contrary, a Bayesian model base matching method that combines a plane prior and pixel dissimilarity is designed for low-textured regions. Experimental results show that our algorithm gets good matching results in low-textured regions. It is effective both in urban environment and offroad environemt with puddles, which proves the robustness of our algorithm. In addition, our algorithm can get real-time performance for a 320x240 image.
stereo matching low-textured region detection AL V navigation Phong illumination model robust plane fitting
Tingbo Hu Tao Wu Hangen He
Mechatronics & Automation School, National University of Defense Technology, Changsha, Hunan, China
国际会议
武汉
英文
204-209
2011-10-21（万方平台首次上网日期，不代表论文的发表时间）