ML Anthology

Error Analysis of a Real-Time Stereo Syste

Yalin Xiong, Larry H. Matthies
CVPR 1997 pp. 1087-1093
doi:10.1109/CVPR.1997.609465 /cvpr/1997/xiong1997cvpr-error/

Abstract

Correlation-based real-time stereo systems have been proven to be effective in applications such as robot navigation, elevation map building etc. This paper provides an in-depth analysis of the major error sources for such a real-time stereo system in the contest of cross-country navigation of an autonomous vehicle. Three major types of errors: foreshortening error, misalignment error and systematic error are identified. The combined disparity errors can easily exceed three-tenths of a pixel, which translates to significant range errors. Upon understanding these error sources, we demonstrate different approaches to either correct them or model their magnitudes without excessive additional computations. By correcting those errors, we show that the precision of the stereo algorithm can be improved by 50%.

CVPR Semantic Scholar

Cite

Text

Xiong and Matthies. "Error Analysis of a Real-Time Stereo Syste." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1997. doi:10.1109/CVPR.1997.609465

Markdown

[Xiong and Matthies. "Error Analysis of a Real-Time Stereo Syste." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1997.](https://mlanthology.org/cvpr/1997/xiong1997cvpr-error/) doi:10.1109/CVPR.1997.609465

BibTeX

@inproceedings{xiong1997cvpr-error,
  title     = {{Error Analysis of a Real-Time Stereo Syste}},
  author    = {Xiong, Yalin and Matthies, Larry H.},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  year      = {1997},
  pages     = {1087-1093},
  doi       = {10.1109/CVPR.1997.609465},
  url       = {https://mlanthology.org/cvpr/1997/xiong1997cvpr-error/}
}