NDLI: Single Camera Stereo for Mobile Robot Surveillance

Content Provider	IEEE Xplore Digital Library
Author	McBride, J. Snorrason, M. Goodsell, T. Eaton, R. Stevens, M.R.
Copyright Year	2005
Description	Author affiliation: Charles River Analytics, Cambridge, Massachusetts (McBride, J.)
Abstract	Mobile robot designers frequently look to computer vision to solve navigation, obstacle avoidance, and object detection problems such as those encountered in parking lot surveillance. Stereo reconstruction is a useful technique in this domain. The advantage of a single-camera stereo method versus a stereo rig is the flexibility to change the baseline distance to best match each scenario. This directly increases the robustness of the stereo algorithm and increases the effective range of the system. The challenge comes from accurately rectifying the images into an ideal stereo pair. Structure from motion (SFM) can be used to compute the camera motion between the two images, but its accuracy is limited and small errors can cause rectified images to be misaligned. We present a single-camera stereo system that incorporates a Levenberg-Marquardt minimization of rectification parameters to bring the rectified images into alignment.
Starting Page	128
Ending Page	128
File Size	648973
Page Count	1
File Format	PDF
ISBN	0769523722
ISSN	10636919
DOI	10.1109/CVPR.2005.527
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-09-21
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computer vision Navigation Surveillance Stereo image processing Robot vision systems Object detection Cameras Stereo vision Mobile robots Image reconstruction
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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