Visual navigation is a challenging issue in automated robot control. In many robot applications, like object manipulation in hazardous environments or autonomous locomotion, it is necessary to automatically detect and avoid obstacles while planning a safe trajectory. In this context the detection of corridors of free space along the robot trajectory is a very important capability which requires...

This paper discusses several interesting configurations of omnidirectional stereo (omnistereo) binocular omnistereo, N-ocular omnistereo, circular projection omnistereo and dynamic omni-stereo. An omnidirectional image can be either obtained by an omnidirectional camera or generated by image mosaicing. Usually an omnidirectional image has a 360-degree view around a viewpoint, and in its most co...

This paper describes recent research concerning the Active Stereo Probe (ASP) stereo vision system that combines animate oculo-motor reflexes with a novel active illumination source. Two methods for accurate surface recovery from stereo at rates approaching real time are described. Results using texture projection combined with a fast sub-pixel matching algorithm are presented. The development ...

Integrating a stereo-photogrammetric robot head into a real-time system requires software solutions that rapidly resolve the stereo correspondence problem. The stereo-matcher presented in this paper uses therefore code parallelisation and was tested on three different processors with x87 and AVX. The results show that a 5mega pixels colour image can be matched in 5,55 seconds or as monochrome i...

This paper elaborates on the possibility to leverage the highly parallel nature of GPUs to implement more efficient stereo matching algorithms. Different algorithms have been implemented and compared on the CPU and the GPU in order to show the speedup gained by moving the computation to the graphics card. The results were evaluated for accuracy using the test available on the Middlebury website...