NDLI: Efficient normalized cross correlation calculation method for stereo vision based robot navigation

Content Provider	Springer Nature Link
Author	Shen, Yehu
Copyright Year	2011
Abstract	Stereo vision systems are widely used for autonomous robot navigation. Most of them apply local window based methods for real-time purposes. Normalized cross correlation (NCC) is notorious for its high computational cost, though it is robust to different illumination conditions between two cameras. It is rarely used in real-time stereo vision systems. This paper proposes an efficient normalized cross correlation calculation method based on the integral image technique. Its computational complexity has no relationship to the size of the matching window. Experimental results show that our algorithm can generate the same results as traditional normalized cross correlation with a much lower computational cost. Our algorithm is suitable for planet rover navigation.
Starting Page	227
Ending Page	235
Page Count	9
File Format	PDF
ISSN	16737350
Journal	Frontiers of Computer Science in China
Volume Number	5
Issue Number	2
e-ISSN	16737466
Language	English
Publisher	SP Higher Education Press
Publisher Date	2011-01-14
Publisher Institution	Chinese Universities
Publisher Place	Heidelberg
Access Restriction	Subscribed
Subject Keyword	normalized cross correlation (NCC) stereo matching integral image Computer Science
Content Type	Text
Resource Type	Article
Subject	Theoretical Computer Science Computer Science

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Efficient normalized cross correlation calculation method for stereo vision based robot navigation