Reference Plane based Fisheye Stereo Epipolar Rectification

Nobuyuki Kita, Yasuyo Kita

Abstract

When a humanoid robot walks through or performs a task in a very narrow space, it sometimes touches the environment with its hand or arm to retain its balance. To do this the robot must identify a flat surface of appropriate size with which it can make sufficient contact; the surface must also be within reach of robot's upper body. Using fisheye stereo vision, it is possible to obtain image information for a field of view wider than that of a hemisphere whose central axis is the optical axes; thus, three dimensional distances to the possible contact spaces can be evaluated at a glance. To realize it, stereo correspondence is crucial. However, the short distance between the stereo cameras and the target space causes differences in the apparent shapes of the targets in the left and right images, which can make stereo correspondence difficult. Therefore, we propose a novel method which rectifies stereo images so that the targets have the same apparent shapes in the left and right images when the targets are close to a reference plane. Actual fisheye stereo image pairs were rectified, and three dimensional measurements were performed. Better results were obtained using the proposed rectification method than using other rectification methods.

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Paper Citation


in Harvard Style

Kita N. and Kita Y. (2017). Reference Plane based Fisheye Stereo Epipolar Rectification . In Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 6: VISAPP, (VISIGRAPP 2017) ISBN 978-989-758-227-1, pages 308-320. DOI: 10.5220/0006261003080320


in Bibtex Style

@conference{visapp17,
author={Nobuyuki Kita and Yasuyo Kita},
title={Reference Plane based Fisheye Stereo Epipolar Rectification},
booktitle={Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 6: VISAPP, (VISIGRAPP 2017)},
year={2017},
pages={308-320},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006261003080320},
isbn={978-989-758-227-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 6: VISAPP, (VISIGRAPP 2017)
TI - Reference Plane based Fisheye Stereo Epipolar Rectification
SN - 978-989-758-227-1
AU - Kita N.
AU - Kita Y.
PY - 2017
SP - 308
EP - 320
DO - 10.5220/0006261003080320