TY - JOUR
AU - Oishi, Takeshi
AB - Abstract: Dense 3D maps from wide-angle cameras is beneficial to robotics applications such as navigation and autonomous driving. In this work, we propose a real-time dense 3D mapping method for fisheye cameras without explicit rectification and undistortion. We extend the conventional variational stereo method by constraining the correspondence search along the epipolar curve using a trajectory field induced by camera motion. We also propose a fast way of generating the trajectory field without increasing the processing time compared to conventional rectified methods. With our implementation, we were able to achieve real-time processing using modern GPUs. Our results show the advantages of our non-rectified dense mapping approach compared to rectified variational methods and non-rectified discrete stereo matching methods.
TI - Real-Time Variational Fisheye Stereo without Rectification and Undistortion
JF - Electrical Engineering and Systems Science
DA - 2019-09-17
UR - https://www.deepdyve.com/lp/arxiv-cornell-university/real-time-variational-fisheye-stereo-without-rectification-and-zrLX8CBDNp
VL - 2019
IS - 1909
DP - DeepDyve
ER -