Dynamic Programming In Hough Space For Line Matching In Stereopsis

Abstract

This paper presents a technique of using the Hough space for solving the correspondence problem in stereo matching. This technique is proposed for depth recovery in our robot vision system which will work for a mobile robot in an office environment. It is shown that the line matching problem in the image space can be readily converted into a point matching problem in the Hough (p-0) space. Dynamic programming can be used for searching the optimal matching, now in the Hough space. The computational cost for dynamic programming in the Hough space is 0 (MN), where M and N are the numbers of the lines in the left and right images for each 0. Our preliminary results show that the proposed methodworkswell on several sets of test images (Rubik cubes and corridor scenes).