The reconstruction and mapping of real scenes is a crucial element in several fields such as robot navigation. Stereo vision can be a powerful solution. However the perspective effect arises, as well as other problems, when the reconstruction is tackled using depth maps obtained from stereo images. A new approach is proposed to avoid the perspective effect, based on a geometrical rectification using the vanishing point of the image. It also uses sub-pixel precision to solve the lack of information for distant objects. Finally, the method is applied to map a whole scene, introducing a cubic filter. © Springer-Verlag Berlin Heidelberg 2007.
CITATION STYLE
Gallego, A. J., Molina, R., Compañ, P., & Villagrá, C. (2007). Rectified reconstruction from stereo pairs and robot mapping. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 4673 LNCS, pp. 141–148). Springer Verlag. https://doi.org/10.1007/978-3-540-74272-2_18
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