Geometry-Informed Distance Candidate Selection for Adaptive Lightweight Omnidirectional Stereo Vision with Fisheye Images

arXiv:2405.05355v1 Announce Type: new
Abstract: Multi-view stereo omnidirectional distance estimation usually needs to build a cost volume with many hypothetical distance candidates. The cost volume building process is often computationally heavy considering the limited resources a mobile robot has. We propose a new geometry-informed way of distance candidates selection method which enables the use of a very small number of candidates and reduces the computational cost. We demonstrate the use of the geometry-informed candidates in a set of model variants. …

arxiv cs.cv cs.ro geometry images type vision