无校正无失真的实时的变分鱼眼立体图像
Real-Time Variational Fisheye Stereo without Rectification and Undistortion
摘要：
来自广角相机的密集3D地图有利于机器人应用，如导航和自动驾驶。在这项工作中，我们提出了一个实时的【形】的鱼眼相机密集的三维映射方法，没有明确的整流和不失真。我们扩展了传统的变分立体方法，通过限制对应搜索沿极线曲线使用的轨迹场引起的摄像机运动。我们还提出了一种快速生成轨迹场的方法，而不增加处理时间相比，传统的整流方法。通过我们的实现，我们能够使用现代GPU实现实时的【形】处理。我们的研究结果表明，我们的非整流稠密映射方法相比，整流变分方法和非整流离散立体匹配方法的优势。
英文摘要：
Dense 3D maps from wide-angle cameras is beneficial to robotics applications such as navigation and autonomous driving. In this work, we propose a real-time dense 3D mapping method for fisheye cameras without explicit rectification and undistortion. We extend the conventional variational stereo method by constraining the correspondence search along the epipolar curve using a trajectory field induced by camera motion. We also propose a fast way of generating the trajectory field without increasing the processing time compared to conventional rectified methods. With our implementation, we were able to achieve real-time processing using modern GPUs. Our results show the advantages of our non-rectified dense mapping approach compared to rectified variational methods and non-rectified discrete stereo matching methods.
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