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Bias reduction for stereo triangulation

Stereo triangulation lays at the basis of 3D scene recovery and it is used in a wide variety of areas ranging from urban modelling to robot localisation and mapping. However, triangulation produces non-Gaussian 3D estimates from Gaussian image measurements owing to its nonlinear nature. While previous work demonstrates the presence of statistical bias and how to correct the depth estimate, in this presented report, proposed and proven in a Monte Carlo test, is an enhancement for correcting the full 3D position given the image projection noise variance

This work has been partially funded by the MICINN under grants CTM2010-15216 and PI08/9087. J. Ferrer has been funded by MICINN under FPI grant BES-2006-12733

© Electronics Letters, 2010, vol. 46, núm. 25, p. 1665-1666

Institution of Engineering and Technology (IET)

Autor: Ferrer Plana, Jordi
García Campos, Rafael
Data: 2010
Resum: Stereo triangulation lays at the basis of 3D scene recovery and it is used in a wide variety of areas ranging from urban modelling to robot localisation and mapping. However, triangulation produces non-Gaussian 3D estimates from Gaussian image measurements owing to its nonlinear nature. While previous work demonstrates the presence of statistical bias and how to correct the depth estimate, in this presented report, proposed and proven in a Monte Carlo test, is an enhancement for correcting the full 3D position given the image projection noise variance
This work has been partially funded by the MICINN under grants CTM2010-15216 and PI08/9087. J. Ferrer has been funded by MICINN under FPI grant BES-2006-12733
Format: application/pdf
ISSN: 0013-5194 (versió paper)
1350-911X (versió electrònica)
Accés al document: http://hdl.handle.net/10256/11747
Llenguatge: eng
Editor: Institution of Engineering and Technology (IET)
Col·lecció: MICINN/PN 2011-2014/CTM2010-15216
Reproducció digital del document publicat a: http://dx.doi.org/10.1049/el.2010.2455
Articles publicats (D-ATC)
És part de: © Electronics Letters, 2010, vol. 46, núm. 25, p. 1665-1666
Drets: Tots els drets reservats
Matèria: Visualització tridimensional (Informàtica)
Three-dimensional display systems
Montecarlo, Mètode de
Monte Carlo method
Títol: Bias reduction for stereo triangulation
Tipus: info:eu-repo/semantics/article
Repositori: DUGiDocs

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