Bias reduction for stereo triangulation

descriptionPublicationkeyboard_double_arrow_right Article 09 Dec 2010 Spain English Publisher:Institution of Engineering and Technology (IET)Journal:Electronics Letters, volume 46, pages 1,665-1,666 (issn: 0013-5194, eissn: 1350-911X,

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Authors: Ferrer Plana, Jordi; García Campos, Rafael;

doi: 10.1049/el.2010.2455

handle: 10256/11747

Bias reduction for stereo triangulation

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Abstract

Stereo triangulation lays at the basis of 3D scene recovery and it is used in a wide variety of areas ranging from urban modelling to robot localisation and mapping. However, triangulation produces non-Gaussian 3D estimates from Gaussian image measurements owing to its nonlinear nature. While previous work demonstrates the presence of statistical bias and how to correct the depth estimate, in this presented report, proposed and proven in a Monte Carlo test, is an enhancement for correcting the full 3D position given the image projection noise variance This work has been partially funded by the MICINN under grants CTM2010-15216 and PI08/9087. J. Ferrer has been funded by MICINN under FPI grant BES-2006-12733

Country

Spain

Related Organizations

University of Girona
Spain

Keywords

Monte Carlo method, Montecarlo, Mètode de, Visualització tridimensional (Informàtica), Three-dimensional display systems

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