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Rapport (Rapport De Recherche) Année : 1988

Matching 3D Images without Backtracking Through Feature Grouping

Résumé

This paper deals with the problem of building a 3-D model of the environnment for a mobile robot by combining several 3-D images obtained from stereo vision. A new method for 3-D image matching is described. It is based on a coarse to fine approach allowing a good initial estimation of the robot motion. We show the importance of feature grouping and how feature groups can be used to guide the search. The experimental results demonstrate a significant reduction in the complexity of the matching problem and low sensitivity to noise.
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Dates et versions

inria-00548472 , version 1 (20-12-2010)

Identifiants

  • HAL Id : inria-00548472 , version 1

Citer

Éric Thirion, Roger Mohr. Matching 3D Images without Backtracking Through Feature Grouping. [Research Report] 88-R-020, 1988. ⟨inria-00548472⟩
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