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Linear-Time Computation of Indexing Based Stereo Correspondence for Cameras with Automatic Gain Control

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Abstract

This paper is a contribution on the field of passive sparse stereo vision, specially for mobile robots navigation. A linear-time computing stereo matching algorithm based on indexing is discussed and improved for cameras with automatic gain control. Integral images and changes on data structures are used to achieve the goals. The method is evaluated by quantitative results utilizing Middlebury stereo datasets and it is able to achieve near 15 fps on a single thread process running on a Intel Ⓡ Core™ i7 without any SIMD use.

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Authors and Affiliations

  1. Instituto Federal de Santa Catarina, Rua Heitor Villa Lobos, 222 - Bairro São Francisco, Florianópolis, SC, Brazil

    Vilson Heck Junior & Maurício E. Stivanello

  2. Universidade Federal de Santa Catarina, Florianópolis, SC, Brazil

    Marcelo R. Stemmer

Authors
  1. Vilson Heck Junior
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  2. Maurício E. Stivanello
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  3. Marcelo R. Stemmer
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Correspondence to Vilson Heck Junior.

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Junior, V.H., Stivanello, M.E. & Stemmer, M.R. Linear-Time Computation of Indexing Based Stereo Correspondence for Cameras with Automatic Gain Control. J Sign Process Syst 90, 157–164 (2018). https://doi.org/10.1007/s11265-017-1228-8

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  • DOI: https://doi.org/10.1007/s11265-017-1228-8

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