On the formulation, performance and design choices of Cost-Curve Occupancy Grids for stereo-vision based 3D reconstruction

Martim Brandão, Ricardo Ferreira, Kenji Hashimoto, José Santos-Victor, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

We present a grid-based 3D reconstruction method which integrates all costs given by stereo vision into what we call a Cost-Curve Occupancy Grid (CCOG). Occupancy probabilities of grid cells are estimated in a Bayesian formulation, from the likelihood of stereo cost measurements taken at all distance hypotheses. This is accomplished with only a small set of probabilistic assumptions which we discuss in the paper. We quantitatively characterize the method's performance under different conditions of both image noise and number of used stereo pairs, compared also to traditional algorithms. We complement the study by giving insights on design choices of CCOGs such as likelihood model, window size of the cost function and use of a hole filling method. Experiments were made on a real-world outdoors dataset with ground-truth data.

Original languageEnglish
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1818-1823
Number of pages6
ISBN (Electronic)9781479969340
DOIs
Publication statusPublished - 2014 Oct 31
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: 2014 Sep 142014 Sep 18

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period14/9/1414/9/18

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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    Brandão, M., Ferreira, R., Hashimoto, K., Santos-Victor, J., & Takanishi, A. (2014). On the formulation, performance and design choices of Cost-Curve Occupancy Grids for stereo-vision based 3D reconstruction. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 1818-1823). [6942801] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6942801