Wide-area recognition using hybrid motion stereo: Outlier rejection for motion stereo using sequential data

Shun Nishide*, Tomohito Takubo, Kenji Inoue, Tatsuo Arai

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Robots working in complex environment require accurate perception of a wide field of view. Using cameras, Hybrid Motion Stereo, which combines the computations by stereo vision and motion stereo, is capable of acquiring positional information of the whole field of view. However, the technique generates errors in computation by motion stereo when tracking feature points fails. This paper describes a method to reject the outliers to avoid erroneous recognition. The method uses computation results from several previous images, computing the spatial deviation and temporal deviation of points, and rejecting those considered to be deviated. The evaluation function is composed with a weighted average of the sequential results, each with a weight of the total number of points existing in the neighboring space, which represents the spatial deviation. Experimental results using the humanoid robot HRP-2 denote the effectivity of the method.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages647-652
Number of pages6
ISBN (Print)0780389123, 9780780389120
DOIs
Publication statusPublished - 2005
Externally publishedYes

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

  • Environmental recognition
  • Mobile robot
  • Motion stereo
  • Stereo vision

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Nishide, S., Takubo, T., Inoue, K., & Arai, T. (2005). Wide-area recognition using hybrid motion stereo: Outlier rejection for motion stereo using sequential data. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 647-652). Article 1545104 (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). IEEE Computer Society. https://doi.org/10.1109/IROS.2005.1545104