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Attenuating Stereo Pixel-Locking via Affine Window AdaptationFor real-time stereo vision systems, the standard method for estimating sub-pixel stereo disparity given an initial integer disparity map involves fitting parabolas to a matching cost function aggregated over rectangular windows. This results in a phenomenon known as 'pixel-locking,' which produces artificially-peaked histograms of sub-pixel disparity. These peaks correspond to the introduction of erroneous ripples or waves in the 3D reconstruction of truly Rat surfaces. Since stereo vision is a common input modality for autonomous vehicles, these inaccuracies can pose a problem for safe, reliable navigation. This paper proposes a new method for sub-pixel stereo disparity estimation, based on ideas from Lucas-Kanade tracking and optical flow, which substantially reduces the pixel-locking effect. In addition, it has the ability to correct much larger initial disparity errors than previous approaches and is more general as it applies not only to the ground plane.
Document ID
20080013276
Acquisition Source
Jet Propulsion Laboratory
Document Type
Preprint (Draft being sent to journal)
External Source(s)
Authors
Stein, Andrew N.
(Carnegie-Mellon Univ. Pittsburgh, PA, United States)
Huertas, Andres
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Matthies, Larry H.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 24, 2013
Publication Date
May 15, 2006
Subject Category
Instrumentation And Photography
Meeting Information
Meeting: IEEE International Conference on Robotics and Automation
Location: Orlando, FL
Country: United States
Start Date: May 15, 2006
End Date: May 19, 2006
Sponsors: Institute of Electrical and Electronics Engineers
Distribution Limits
Public
Copyright
Other
Keywords
pixel locking effect
stereo vision

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