Matching segments in stereoscopic vision

Abstract

We have shown that it's possible to realize a stereoscopic sensor with poor cameras. We developed image processing that is robust and allows us to quickly obtain results for the matching algorithm. We computed an important number of features on each segment, and with these features, we built 16-component vector used in the classification step. After an exhaustive study, we decided to combine two methods, Bayesian and neural, to construct an efficient classifier. The tests for indoor images had better than 90% good matching. With segment couples, it is possible to compute the 3D coordinates of the objects. Therefore, the mobile robot is able to localize and move about in the environment.