ICRA 2011 Paper Abstract


Paper WeP104.1

Fischer, Jan (Fraunhofer IPA), Arbeiter, Georg (Fraunhofer IPA), Verl, Alexander (Fraunhofer-Gesellschaft)

Combination of Time-Of-Flight Depth and Stereo Using Semiglobal Optimization

Scheduled for presentation during the Regular Sessions "Range Sensing III" (WeP104), Wednesday, May 11, 2011, 13:40−13:55, Room 3E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Sensor Fusion, Range Sensing, Computer Vision for Robotics and Automation


A growing number of modern computer vision applications like object recognition, collision avoidance and scene understanding demand accurate and dense 3D representations of their environment. To improve existing procedures for 3D data acquisition this paper proposes a novel method for sensor combination on a stereo and a Time-of-Flight camera system. By calibrating the two sensor systems to each other, valid measurements from the 2.5D Time-of-Flight sensor are converted to disparity guesses within the stereo system. The disparity guesses from the Time-of-Flight data constrain the correspondence search results from the stereo matching algorithm. It is empirically shown, that the proposed method effectively enhance the results from stereo vision, especially in structureless areas where stereo correspondence search fails. The method is evaluated on the camera system of the service robot Care-O-bot 3.



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