2019/09/17 by Menandro Roxas, Roxas, Menandro, Takeshi Oishi +1
Computer Science · Engineering · #Advanced Image and Video Retrieval Techniques #Advanced Vision and Imaging #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #FOS: Electrical engineering #Image and Video Processing (eess.IV) #Robotics (cs.RO) #Robotics and Sensor-Based Localization #cs.CV #cs.RO #eess.IV #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1909.07545
arxiv created 2019/09/17 · openalex publication_date 2019/09/17 · arxiv updated 2019/09/18 · openalex created_date 2019/09/26 · openalex updated_date 2026/07/28
Dense 3D maps from wide-angle cameras is beneficial to robotics applications such as navigation and autonomous driving. In this work, we propose a real-time dense 3D mapping method for fisheye cameras without explicit rectification and undistortion. We extend the conventional variational stereo method by constraining the correspondence search along the epipolar curve using a trajectory field induced by camera motion. We also propose a fast way of generating the trajectory field without increasing the processing time compared to conventional rectified methods. With our implementation, we were able to achieve real-time processing using modern GPUs. Our results show the advantages of our non-rectified dense mapping approach compared to rectified variational methods and non-rectified discrete stereo matching methods.