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Proceedings Paper

Towards immersive stereo vision from a mobile platform
Author(s): Jonas Haeling; Marc Necker; Andreas Schilling
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Paper Abstract

In this paper, we propose a novel method for the 3D reconstruction of urban scenes using a front-facing stereo camera in a vehicle. Our point-based approach warps an active region of the reconstructed point cloud to the next frame and uses an extended information filter for the temporal fusion of clustered disparity estimates in pixel bins. We splat the information of projected pixels according to subpixel weights and discard uncertain points. This method allows us to remove redundant points required for the reconstruction and at the same time presents a significantly denser model than competing approaches with improved disparity estimates. Our approach avoids common visual artifacts like spurious objects in the reconstruction. This results in a reconstruction with higher visual fidelity compared to other approaches, which is important for immersive applications. We compare our proposed system to other approaches in a quantitative and qualitative evaluation on the KITTI odometry dataset.

Paper Details

Date Published: 15 March 2019
PDF: 8 pages
Proc. SPIE 11041, Eleventh International Conference on Machine Vision (ICMV 2018), 110410V (15 March 2019); doi: 10.1117/12.2522772
Show Author Affiliations
Jonas Haeling, Daimler AG (Germany)
Eberhard Karls Univ. Tübingen (Germany)
Marc Necker, Daimler AG (Germany)
Andreas Schilling, Eberhard Karls Univ. Tübingen (Germany)

Published in SPIE Proceedings Vol. 11041:
Eleventh International Conference on Machine Vision (ICMV 2018)
Antanas Verikas; Dmitry P. Nikolaev; Petia Radeva; Jianhong Zhou, Editor(s)

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