TY - GEN
T1 - Wide-area recognition using hybrid motion stereo
T2 - Outlier rejection for motion stereo using sequential data
AU - Nishide, Shun
AU - Takubo, Tomohito
AU - Inoue, Kenji
AU - Arai, Tatsuo
PY - 2005
Y1 - 2005
N2 - 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.
AB - 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.
KW - Environmental recognition
KW - Mobile robot
KW - Motion stereo
KW - Stereo vision
UR - http://www.scopus.com/inward/record.url?scp=79958011882&partnerID=8YFLogxK
U2 - 10.1109/IROS.2005.1545104
DO - 10.1109/IROS.2005.1545104
M3 - Conference contribution
AN - SCOPUS:79958011882
SN - 0780389123
SN - 9780780389120
T3 - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 647
EP - 652
BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PB - IEEE Computer Society
ER -