NDLI: Elevation-based MRF stereo implemented in real-time on a GPU

Content Provider	IEEE Xplore Digital Library
Author	Ivanchenko, V. Shen, H. Coughlan, J.
Copyright Year	2009
Description	Author affiliation: Smith-Kettlewell Eye Research Institute, San Francisco, CA 94115, USA (Ivanchenko, V.; Shen, H.; Coughlan, J.)
Abstract	We describe a novel framework for calculating dense, accurate elevation maps from stereo, in which the height of each point in the scene is estimated relative to the ground plane. The key to our framework's ability to estimate elevation accurately is an MRF formulation of stereo that directly represents elevation at each pixel instead of the usual disparity. By enforcing smoothness of elevation rather than disparity (using pairwise interactions in the MRF), the usual fronto-parallel bias is transformed into a horizontal (parallel to the ground) bias - a bias that is more appropriate for scenes characterized by a dominant ground plane viewed from an angle. This horizontal bias amounts to a more informative prior for such scenes, which results in more accurate surface reconstruction, with sub-pixel accuracy. We apply this framework to the problem of finding small obstacles, such as curbs and other small deviations from the ground plane, a few meters in front of a vehicle (such as a wheelchair or robot) that are missed by standard real-time correlation stereo algorithms. We demonstrate a real-time implementation of our framework on a GPU (we have made the code publicly available), which processes a 640 × 480 stereo image pair in 160 ms using either our elevation model or a standard disparity-based model (with 32 elevation or disparity levels), and describe experimental results.
Starting Page	1
Ending Page	8
File Size	539659
Page Count	8
File Format	PDF
ISBN	9781424454976
ISSN	15505790
e-ISBN	9781424454983
DOI	10.1109/WACV.2009.5403028
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-07
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Linear programming Minimization methods Boolean functions Integer linear programming Circuits Electrical capacitance tomography Ice Testing Production Employment
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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