Real-Time Dense Stereo Matching using Adaptive Support Window for Robot Navigation in an Environment with Large Depth Variation
نویسندگان
چکیده
3D perception of an environment is essential for robot navigation. In this paper, we propose a dense stereo matching algorithm that works well with a scene with large depth variation, and can also operate in real-time. Our method assigns weights to pixels in a support window based on intensity gradient analysis and geometric proximity. The selected disparities are refined by intensity gradient and depth variation analysis. Our algorithm is verified through experiments in a real environment. Keywords—Stereo Matching, Correspondence Problem, 3D Reconstruction, 3D Scene Perception
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