Fast computation of local displacement by stereo pairs

V. A. Bobkov; S. V. Mel’man; A. P. Kudryashov

doi:10.1134/S1054661817030063

Fast computation of local displacement by stereo pairs

作者: Bobkov V.A.¹, Mel’man S.V.¹, Kudryashov A.P.¹
隶属关系:
1. Institute of Automation and Control Processes, Far East Branch
期: 卷 27, 编号 3 (2017)
页面: 458-465
栏目: Representation, Processing, Analysis, and Understanding of Images
URL: https://bakhtiniada.ru/1054-6618/article/view/195123
DOI: https://doi.org/10.1134/S1054661817030063
ID: 195123

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详细

A new method for fast computation of the camera/robot local displacement (6 DOF) based on matched 3D point clouds obtained from images using computer vision methods is proposed. According to the method, the local geometric transformation matrix is computed based on the combination of external coordinate systems generated from random sample points. Comparative estimates of the efficiency of the method are made using data of computational experiments.