J.L. Baker, D. Campbell, A. Bodnarova, and V. Chandran (Australia)
Robotic Sensing, Data Fusion, Robotic Vision, Colour Seg mentation
This paper presents a novel approach to segment based stereo correspondence. The method presented utilises colour information to determine segments of an image that represent physical objects. The stereo correspondence framework proposed is based upon using the colour seg ments for feature matching across stereo images. The colour segments are determined using a unique hue intensity segmentation fusion algorithm. The segmentation algorithm can be expanded to include motion information. Results illustrate the success in combining hue and inten sity information to locate segments representative of phys ical objects, useful for performing stereo correspondence. The approach proposed in this paper is a hybrid area feature based approach. Initially the extracted object seg ment boundaries are mapped between the left and right stereo images. The result of the simple and easier segment based stereo correspondence is utilised as a constraint in the search space of the area based approach. The novel as pect of this algorithm is the use of segments as the basic feature for feature matching.
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