摘要
立体声视觉系统广泛地为自治机器人航行被使用。他们中的大多数使用本地窗户为即时目的基于的方法。规范的生气关联(NCC ) 为它的高计算的费用是臭名昭著的，尽管它对在二个照相机之间的不同照明条件柔韧。它很少在即时立体声视觉系统被使用。这份报纸基于不可分的图象技术建议一个有效规范的生气关联计算方法。它的计算复杂性没有关系到匹配的窗户的尺寸。试验性的结果证明我们的算法能产生象与低得多的计算费用的传统的规范的生气关联的一样的结果。我们的算法对行星漫游者航行合适。
Stereo vision systems are widely used for autonomous robot navigation. Most of them apply local window based methods for real-time purposes. Normalized cross correlation （NCC） is notorious for its high computational cost, though it is robust to different illumination conditions between two cameras. It is rarely used in real-time stereo vision systems. This paper proposes an efficient normalized cross correlation calculation method based on the integral image technique. Its computational complexity has no relationship to the size of the matching window. Experimental results show that our algorithm can generate the same results as traditional normalized cross correlation with a much lower computational cost. Our algorithm is suitable for planet rover navigation.
