This Article 
 Bibliographic References 
 Add to: 
A Stereo Vision Technique Using Curve-Segments and Relaxation Matching
May 1992 (vol. 14 no. 5)
pp. 566-572

A multichannel feature-based stereo vision technique where curve segments are used as feature primitives in the matching process is described. The left image and the right image are filtered by using several Laplacian-of-Gaussian operators of different widths (channels). Curve segments are extracted by a tracking algorithm, and their centroids are obtained. At each channel, the generalized Hough transform of each curve segment in the left and the right image is evaluated. The epipolar constraint on the centroids of the curve segment and the channel size is used to limit the searching space in the right image. To resolve the ambiguity of the false targets (multiple matches), a relaxation technique is used where the initial scores of the node assignments are updated by the compatibility measures between the centroids of the curve segments. The node assignments with the highest score are chosen as the matching curve segments.

[1] U. R. Dhond and J. K. Aggarwal, "Structure from stereo--A review,"IEEE Trans. Syst. Man Cybern., vol. 19, no. 6, pp. 1489-1510, Nov. 1989.
[2] S. T. Barnard and M. A. Fischler, "Computational stereo,"Comput. Surveys, vol. 14, no. 4, pp. 553-572, 1982.
[3] G. Medioni and R. Nevatia, "Segment based stereo matching,"Comput. Vision Graphics Image Processing, vol. 31, pp. 2-18, 1985.
[4] T. B. Barnard, "Stochastic stereo matching over scale," inProc. DARPA Image Understanding Workshop(Cambridge, MA), Apr. 6-8, 1988, pp. 769-778.
[5] N. M. Nasrabadi, S. Clifford, and Y. Liu, "Integration of stereo vision and optical flow using an energy minimization approach,"J. Opt. Soc. Amer. A, vol. 6, no. 6, pp. 900-907, 1989.
[6] W. E. L. Grimson, "Computational experiments with a feature based stereo algorithm,"IEEE Trans. Patt. Anal. Machine Intell., vol. PAMI-7, no. 1, pp. 17-34, Jan. 1985.
[7] J. E. W. Mayhew and J. P. Frisby, "Psychophysical and computational studies towards a theory of human stereopsis,"Artificial Intell., vol. 17, pp. 349-385, 1981.
[8] N. M. Nasrabadi and Y. Liu, "Stereo vision correspondence using a multi-channel graph matching technique,"Image Vision Comput., vol. 7, no. 4, pp. 237-245, Nov. 1989.
[9] D. H. Ballard, "Generalizing the Hough transform to detect arbitrary shapes,"Patt. Recogn., vol. 13, no. 2, pp. 111-122, 1981.
[10] S. Ranade and A. Rosenfeld, "Point pattern matching by relaxation,"Patt. Recogn., vol. 12, pp. 267-275, 1980.

Index Terms:
curve segment extraction; searching space limitation; curve-segments; relaxation matching; multichannel feature-based stereo vision technique; feature primitives; Laplacian-of-Gaussian operators; centroids; generalized Hough transform; epipolar constraint; node assignments; pattern recognition; picture processing
N.M Nasrabadi, "A Stereo Vision Technique Using Curve-Segments and Relaxation Matching," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 14, no. 5, pp. 566-572, May 1992, doi:10.1109/34.134060
Usage of this product signifies your acceptance of the Terms of Use.