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Robotics 2016, 5(4), 24; doi:10.3390/robotics5040024

A Matlab-Based Testbed for Integration, Evaluation and Comparison of Heterogeneous Stereo Vision Matching Algorithms

1
Software Engineering and Artificial Intelligence, University Complutense of Madrid, Madrid 28040, Spain
2
Computer Architecture and Automation, University Complutense of Madrid, Madrid 28040, Spain
*
Author to whom correspondence should be addressed.
Academic Editor: Huosheng Hu
Received: 5 July 2016 / Revised: 31 October 2016 / Accepted: 4 November 2016 / Published: 9 November 2016
(This article belongs to the Special Issue Robotics and 3D Vision)
View Full-Text   |   Download PDF [3072 KB, uploaded 9 November 2016]   |  

Abstract

Stereo matching is a heavily researched area with a prolific published literature and a broad spectrum of heterogeneous algorithms available in diverse programming languages. This paper presents a Matlab-based testbed that aims to centralize and standardize this variety of both current and prospective stereo matching approaches. The proposed testbed aims to facilitate the application of stereo-based methods to real situations. It allows for configuring and executing algorithms, as well as comparing results, in a fast, easy and friendly setting. Algorithms can be combined so that a series of processes can be chained and executed consecutively, using the output of a process as input for the next; some additional filtering and image processing techniques have been included within the testbed for this purpose. A use case is included to illustrate how these processes are sequenced and its effect on the results for real applications. The testbed has been conceived as a collaborative and incremental open-source project, where its code is accessible and modifiable, with the objective of receiving contributions and releasing future versions to include new algorithms and features. It is currently available online for the research community. View Full-Text
Keywords: stereovision; 3D scene reconstruction; matching algorithms; correspondence; computer vision; image processing; robotics; testbed; open-source; Matlab stereovision; 3D scene reconstruction; matching algorithms; correspondence; computer vision; image processing; robotics; testbed; open-source; Matlab
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Correal, R.; Pajares, G.; Ruz, J.J. A Matlab-Based Testbed for Integration, Evaluation and Comparison of Heterogeneous Stereo Vision Matching Algorithms. Robotics 2016, 5, 24.

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