Trinocular Stereo Vision for Robotics
|
An approach to building a three-dimensional description of the environment of a robot using three cameras is presented. The main advantages of trinocular versus binocular stereo are simplicity, reliability, and accuracy. It is believed that these advantages make trinocular stereo vision of practical use for many robotics applications. The technique has been successfully applied to several indoor and industrial scenes. Experimental results are presented and discussed.
[1] 73M. Yachida, "3-D data acquisition by multiple views," inRobotics Research: Third Int. Symp., O. D. Faugeras and G. Giralt, Eds. Cambridge, MA: MIT Press, 1986, pp. 11-18.
[2] M. Yachida, Y. Kitamura, and M. Kimachi, "Trinocular vision: New approach for correspondence problem," inProc. Int. Conf. Pattern Recognition, IEEE, Paris, France, Oct. 1986, pp. 1041-1044.
[3] M. Pietikainen and D. Harwood, "Progress in trinocular stereo," inProc. NATO Advanced Workshop Real-Time Object and Environment Measurement and Classification, Maratea, Italy, Aug. 31-Sept. 3, 1987.
[4] M. Ito and A. Ishii, "Three-view stereo analysis,"IEEE Trans. Pattern Anal. Machine Intell., vol. PAMI-8, pp. 524-531, July 1986.
[5] M. Ito and A. Ishii, "Range and shape measurements using three-view stereo analysis," inProc. Int. Conf. Computer Vision and Pattern Recognition, IEEE, Miami Beach, FL, 1986, pp. 9-14.
[6] A. Gerhard, H. Platzer, J. Steurer, and R. Lenz, "Depth extraction by stereo triples and a fast correspondence estimation algorithm," inProc. Int. Conf. Pattern Recognition, IEEE, Paris, France, Oct. 1986, pp. 512-515.
[7] E. Gurewitz, I. Dinstein, and S. Sarusi, "More on the benefit of a third eye for machine stereo perception," inProc. Int. Conf. Pattern Recognition, IEEE, Paris, France, Oct. 1986, pp. 966-968.
[8] Y. Ohta, M. Watanabe, and K. Ikeda, "Improving depth map by right-angled trinocular stereo," inProc. Int. Conf. Pattern Recognition, IEEE, Paris, France, Oct. 1986, pp. 519-521.
[9] M. Pietikainen and D. Harwood, "Depth from three-camera stereo," inProc. Int. Conf. Computer Vision and Pattern Recognition, IEEE, Miami Beach, FL, 1986, pp. 2-8.
[10] C. Stewart and C. Dyer, "The trinocular general support algorithm: A three camera stereo algorithm for overcoming binocular matching errors," Univ. Wisconsin-Madison, Tech. Rep. 768, May 1988.
[11] K. Nishihara and T. Poggio, "Stereo vision for robotics," inRobotics Research, First Int. Symp., R. Paul and M. Brady, Eds. Cambridge, MA: MIT Press, 1984, pp. 489-505.
[12] D. Marr and T. Poggio, "A computational theory of human stereo vision,"Proc. Roy. Soc. London, vol. B-204, pp. 301-328, 1979.
[13] H. Baker and T. O. Binford, "Depth from edge and intensity based stereo," inProc. 7th Joint Conf. Artificial Intelligence, Vancouver, B. C., Canada, Aug. 1981, pp. 631-636.
[14] M. Berthod and P. Long, "Graph matching by parallel optimization methods: An application to stereo vision," inProc. Int. Conf. Pattern Recognition, Montreal, P. Q., Canada, Aug. 1984, pp. 841-843.
[15] R. Mohr and W. Wrobel, "La correspondance en stéréovision vue comme une recherche de chemin optimal," inProc. Reconnaissance des Formes et Intelligene Artificielle, Quatrième Congrès, France, 1984, pp. 71-79.
[16] W.E.L. Grimson, "Computational experiments with a feature based stereo algorithm,"IEEE Trans. Pattern Anal. Machine Intell., vol. PAMI-7, no. 1, pp. 17-34, 1985.
[17] G. Medioni and R. Nevatia, "Segment-based stereo matching,"Comput. Vision, Graphics, Image Processing, vol. 31, pp. 2-18, 1985.
[18] Y. Ohta and T. Kanade, "Stereo by intra- and inter-scanline search,"IEEE Trans. Pattern Anal. Machine Intell., vol. PAMI-7, no. 2, pp. 139-154, 1985.
[19] S. B. Pollard, J. E. W. Mayhew, and J. P. Frisby, "PMF: A stereo correspondence algorithm using a disparity gradient constraint,"Perception, vol. 14, pp. 449-470, 1985.
[20] A. R. Saint-Vincent, "Perception et modélisation de l'environnement d'un robot mobile: Une approche par stéréovision," Thèse, Univ. Paul Sabatier, Toulouse, France, 1986.
[21] S. T. Barnard, "Stereo matching by hierarchical microcanonical annealing," inProc. 10th IJCAI, Milano, Italy, Aug. 1987, pp. 832-835.
[22] T. Skordas and B. Horaud, "Stereo correspondence through feature grouping and maximal cliques," IMAG, Laboratoire d'Informatique Fondamentale et d'Intelligence Artificielle, Rapport de Recherche RR 677-I-64 LIFIA, Sept. 1987.
[23] N. Ayache and B. Faverjon, "Efficient registration of stereo images by matching graph descriptions of edge segments,"Int. J. Comput. vision, vol. 1, no. 2, Apr. 1987.
[24] D. J. Burr and R. T. Chien, "A system for stereo computer vision with geometric models," inProc. IJCAI-5, MIT, Aug. 1977, pp. 583.
[25] D. J. Burr, "On computer stereo vision with wire frame models," Coordinated Sci. Lab., Univ. Illinois, Urbana, Rep. 805, Dec. 1977.
[26] H.H. Baker, T. O. Binford, J. Malik, and J.-F. Meller, "Progress in stereo mapping," inProc. Image Understanding Workshop, Arlington, VA, June 1983, pp. 327-335.
[27] R. Jain, S. L. Bartlett, and N. O'Brien, "Motion stereo using ego-motion complex logarithmic mapping,"IEEE Trans. Pattern Anal. Machine Intell., vol. 9, no. 3, pp. 356-369, May 1987.
[28] D. H. Marimont, "Projective duality and the analysis of image sequences," inProc. Workshop Motion: Representation and Analysis, IEEE Comput. Soc., Kiawah Island, SC, May 1986, pp. 7-14.
[29] R. Deriche, "Using Canny's criteria to derive an optimal edge detector recursively implemented,"Int. J. Comput. vision, vol. 2, Apr. 1987.
[30] J. F. Canny, "A computational approach to edge detection,"IEEE Trans. Pattern Anal. Machine Intell., vol. PAMI-8, pp. 679-697, 1986.
[31] G. Giraudon, "Chainage efficace de contour," INRIA, Rapport de Recherche 605, Feb. 1987.
[32] J.G. Dunham, "Optimum uniform piecewise linear approximation of planar curves,"IEEE Trans., vol. PAMI-8, no. 1, pp. 66-75, Jan. 1986.
[33] G. Toscani, "Système de calibration optique et perception du mouvement en vision artificielle," Ph.D. dissertation, Paris-Orsay, France, 1987.
[34] O. D. Faugeras and G. Toscani, "The calibration problem for stereo," inProc. CVPR '86, Miami Beach, FL, IEEE, 1986, pp. 15-20.
[35] O. D. Faugeras, "Artificial 3D vision," to be published.
[36] N. Ayache and C. Hansen, "Rectification of images for binocular and trinocular stereo vision," inProc. Int. Conf. Pattern Recognition, Beijing, China, Oct. 1988.
[37] N. Ayache, "Construction et fusion de représentations visuelles tridimensionnelles: Applicationsàla robotique mobile," Thèse d'Etat, Univ. Paris-Sud, Orsay, France, May 1988; also INRIA Internal Rep.
[38] F. Lustman, "Vision stéréoscopique et perception du mouvement en vision artificielle," Ph.D. dissertation, Paris-Orsay, France, 1987.
[39] N. Ayache and F. Lustman, "Fast and reliable passive trinocular stereo vision," inProc. First Int. Conf. Computer vision, IEEE, London, England, June 1987, pp. 422-427.
[40] N. Ayache and F. Lustman, "Trinocular stereo vision, recent results," inProc. Int. Joint Conf. Artificial Intelligence, Milano, Italy, Aug. 1987.
[41] N. Ayache and O. D. Faugeras, "Maintaining representations of the environment of a mobile robot," inInt. Symp. Robotics Research, Santa Cruz, CA, Aug. 1987.
[42] G. Randall, S. Foret, and N. Ayache, "Final steps towards real time trinocular stereo vision," inProc. First European Conf. Computer vision, ECCV'90, Antibes, France, O. D. Faugeras, Ed. New York: Springer-Verlag, Apr. 1990, pp. 601-603.
[43] N. Ayache,Vision Stéréoscopique et Perception Multisensorielle; Applicationsàla robotique Mobile. Inter-Editions, 1989.
[44] N. Ayache,"Artifical Vision for Mobile Robots: Stereo Vision and Sensor Fusion. Cambridge, MA: MIT Press, 1990.
[45] N. Ayache and O. D. Faugeras, "Building, registrating and fusing noisy visual maps,"Int. J. Robotics Res. (Special Issue on Sensor Data Fusion), vol. 7, no. 6, pp. 45-65, Dec. 1988.
[46] P. Grossman, "Compact-A surface representation scheme," inProc. 4th Alvey Vision Conf. (AVC'88), Manchester, England, 1988.
Index Terms:
image representation; matching; three-dimensional description; binocular stereo; trinocular stereo vision; robotics applications; industrial scenes; computer vision; computerised pattern recognition; computerised picture processing; robots
Citation:
N. Ayache, F. Lustman, "Trinocular Stereo Vision for Robotics," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 13, no. 1, pp. 73-85, Jan. 1991, doi:10.1109/34.67633
PURCHASE ARTICLE: $19
IEEE Xplore Subscribers
Digg
Furl
Spurl
Blink
Simpy
Google
Del.icio.us
Y!MyWeb