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Matching 3D Images without Backtracking Through Feature Grouping

Abstract : 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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https://hal.inria.fr/inria-00548472
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Submitted on : Monday, December 20, 2010 - 8:47:52 AM
Last modification on : Friday, February 26, 2021 - 3:26:01 PM

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  • HAL Id : inria-00548472, version 1

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

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