Infinity and Planarity Test for Stereo Vision

Yasushi KANAZAWA  Kenichi KANATANI  

Publication
IEICE TRANSACTIONS on Information and Systems   Vol.E80-D   No.8   pp.774-779
Publication Date: 1997/08/25
Online ISSN: 
DOI: 
Print ISSN: 0916-8532
Type of Manuscript: PAPER
Category: Image Processing,Computer Graphics and Pattern Recognition
Keyword: 
AIC,  testing of hypotheses,  model selection,  stereo vision,  infinity test,  planarity test,  

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Summary: 
Introducing a mathematical model of noise in stereo images, we propose a new criterion for intelligent statistical inference about the scene we are viewing by using the geometric information criterion (geometric AIC). Using synthetic and real-image experiments, we demonstrate that a robot can test whether or not the object is located very far away or the object is a planar surface without using any knowledge about the noise magnitude or any empirically adjustable thresholds.