DocumentCode :
547523
Title :
Integrating LIDAR into Stereo for Fast and Improved Disparity Computation
Author :
Badino, Hernán ; Huber, Daniel ; Kanade, Takeo
Author_Institution :
Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
fYear :
2011
fDate :
16-19 May 2011
Firstpage :
405
Lastpage :
412
Abstract :
The fusion of stereo and laser range finders (LIDARs) has been proposed as a method to compensate for each individual sensor´s deficiencies - stereo output is dense, but noisy for large distances, while LIDAR is more accurate, but sparse. However, stereo usually performs poorly on textureless areas and on scenes containing repetitive structures, and the subsequent fusion with LIDAR leads to a degraded estimation of the 3D structure. In this paper, we propose to integrate LIDAR data directly into the stereo algorithm to reduce false positives while increasing the density of the resulting disparity image on textureless regions. We demonstrate with extensive experimental results with real data that the disparity estimation is substantially improved while speeding up the stereo computation by as much as a factor of five.
Keywords :
laser ranging; optical radar; radar imaging; stereo image processing; 3D structure; LIDAR data; disparity estimation; disparity image; improved disparity computation; stereo algorithm; stereo-laser range finders; Cameras; Dynamic programming; Laser radar; Noise; Noise measurement; Pixel; Three dimensional displays; LIDAR; disparity space reduction; dynamic programming; path promotion; range images; sensor fusion; stereo;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT), 2011 International Conference on
Conference_Location :
Hangzhou
Print_ISBN :
978-1-61284-429-9
Electronic_ISBN :
978-0-7695-4369-7
Type :
conf
DOI :
10.1109/3DIMPVT.2011.58
Filename :
5955388
Link To Document :
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