Imaging Components, Systems, and Processing

Real-time line matching from stereo images using a nonparametric transform of spatial relations and texture information

[+] Author Affiliations
Jonghee Park, Kuk-Jin Yoon

Gwangju Institute of Science and Technology, 123 Cheomdangwagi-ro, Buk-Gu, Gwangju 500-712, Republic of Korea

Opt. Eng. 54(2), 023106 (Feb 19, 2015). doi:10.1117/1.OE.54.2.023106
History: Received November 21, 2014; Accepted January 27, 2015
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Abstract.  We propose a real-time line matching method for stereo systems. To achieve real-time performance while retaining a high level of matching precision, we first propose a nonparametric transform to represent the spatial relations between neighboring lines and nearby textures as a binary stream. Since the length of a line can vary across images, the matching costs between lines are computed within an overlap area (OA) based on the binary stream. The OA is determined for each line pair by employing the properties of a rectified image pair. Finally, the line correspondence is determined using a winner-takes-all method with a left-right consistency check. To reduce the computational time requirements further, we filter out unreliable matching candidates in advance based on their rectification properties. The performance of the proposed method was compared with state-of-the-art methods in terms of the computational time, matching precision, and recall. The proposed method required 47 ms to match lines from an image pair in the KITTI dataset with an average precision of 95%. We also verified the proposed method under image blur, illumination variation, and viewpoint changes.

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© 2015 Society of Photo-Optical Instrumentation Engineers

Citation

Jonghee Park and Kuk-Jin Yoon
"Real-time line matching from stereo images using a nonparametric transform of spatial relations and texture information", Opt. Eng. 54(2), 023106 (Feb 19, 2015). ; http://dx.doi.org/10.1117/1.OE.54.2.023106


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