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Fast computation of local displacement by stereo pairs

  • Representation, Processing, Analysis, and Understanding of Images
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Abstract

A new method for fast computation of the camera/robot local displacement (6 DOF) based on matched 3D point clouds obtained from images using computer vision methods is proposed. According to the method, the local geometric transformation matrix is computed based on the combination of external coordinate systems generated from random sample points. Comparative estimates of the efficiency of the method are made using data of computational experiments.

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Authors and Affiliations

  1. Institute of Automation and Control Processes, Far East Branch, Russian Academy of Sciences, Vladivostok, Russia

    V. A. Bobkov, S. V. Mel’man & A. P. Kudryashov

Authors
  1. V. A. Bobkov
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  2. S. V. Mel’man
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  3. A. P. Kudryashov
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Corresponding author

Correspondence to V. A. Bobkov.

Additional information

Valerii Aleksandrovich Bobkov. Graduated from the Moscow Institute of Physics and Technology in 1971. Received candidate’s degree in 1976 and doctoral degree in Mathematics and Software Engineering for Computer Networks and Systems in 1996. Since 1981, has been the head of the Computer Graphics Laboratory at the Institute of Automation and Control Processes of the Far East Branch of the Russian Academy of Sciences. Author of more than 100 papers. Scientific interests: computer graphics, computer vision, automation of scientific research, and parallel computing.

Sergei Vladimirovich Mel’man. Born 1980. Graduated from the Far Eastern State Technical University with a degree in Applied Mathematics and Computer Science in 2004. Received candidate’s degree in Mathematics and Software Engineering for Computer Networks and Systems in 2013. Since 2002, has been working at the Institute of Automation and Control Processes in Vladivostok. Author of more than 30 papers. Scientific interests: computer graphics, computer vision, volume rendering, image processing, data processing, CUDA-programming, 3D reconstruction, and C++.

Alexei Pavlovich Kudryashov. Born 1981. Graduated from the Far Eastern State Technical University with a degree in Applied Mathematics and Computer Science in 2004. Received candidate’s degree in Mathematics and Software Engineering for Computer Networks and Systems in 2009. For 14 years, has been working at the Institute of Automation and Control Processes. Author of more than 20 papers. Scientific interests: computer graphics, computer vision, volume rendering, image processing, data processing, CUDA- programming, 3D reconstruction, and C++.

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Bobkov, V.A., Mel’man, S.V. & Kudryashov, A.P. Fast computation of local displacement by stereo pairs. Pattern Recognit. Image Anal. 27, 458–465 (2017). https://doi.org/10.1134/S1054661817030063

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  • DOI: https://doi.org/10.1134/S1054661817030063

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