Stereo Images Matching Process Enhancement by Homomorphic Filtering and Disparity Clustering

作者：Correal R^*; Pajares G; Ruz J J

来源：Revista Iberoamericana de Automatica e Informatica Industrial, 2013, 10(2): 178-184.

DOI：10.1016/j.riai.2013.03.008

• Stereoscopic matching
• Homomorphic filtering
• Computer vision
• Stereo vision
• Image processing
• 3D reconstruction
• Robotics
• Mobile robots

In this work we deal with the matching process problem using stereo images from real world terrains taken with a Videre STH-DCSG 9mm stereoscopic system. A series of matching algorithms are used, as part of the global stereoscopic process, with the purpose of creating a 3D reconstruction for robotic autonomous navigation in natural and non-structured environments. First, a study about the effects of applying homomorphic filtering to the input images previous to the matching process is carried out. Using this method, a significant enhancement in the disparity map is achieved, obtaining a greater number of true correspondences in relation to applying no filtering at all. Then, a filtering process over the disparities map driven by clusters and based in a spatial continuity premise dismisses false positives or wrong correspondences. Both filtering processes are the main contribution of this work.

• 出版日期2013-6