A three-layer architecture to support disparity map construction in stereo vision systems

Vieira, Gabriel da Silva; Lima, Júnio César de; Sousa, Naiane Maria de; Soares, Fabrízzio

doi:10.1016/j.iswa.2021.200054

Cited by 1 publication

(1 citation statement)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…An RGB-D camera [ 9 , 10 ] can simultaneously produce both colour and depth images, the latter of which can be used for point cloud reconstruction. Similarly, point clouds can be reconstructed from a stereo camera [ 11 , 12 ] with the disparity map derived by left and right images.…”

Section: Introductionmentioning

confidence: 99%

An Occupancy Mapping Method Based on K-Nearest Neighbours

Hunter

Georgilas

2021

Sensors

View full text Add to dashboard Cite

OctoMap is an efficient probabilistic mapping framework to build occupancy maps from point clouds, representing 3D environments with cubic nodes in the octree. However, the map update policy in OctoMap has limitations. All the nodes containing points will be assigned with the same probability regardless of the points being noise, and the probability of one such node can only be increased with a single measurement. In addition, potentially occupied nodes with points inside but traversed by rays cast from the sensor to endpoints will be marked as free. To overcome these limitations in OctoMap, the current work presents a mapping method using the context of neighbouring points to update nodes containing points, with occupancy information of a point represented by the average distance from a point to its k-Nearest Neighbours. A relationship between the distance and the change in probability is defined with the Cumulative Density Function of average distances, potentially decreasing the probability of a node despite points being present inside. Experiments are conducted on 20 data sets to compare the proposed method with OctoMap. Results show that our method can achieve up to 10% improvement over the optimal performance of OctoMap.

show abstract