Image Warping for View-invariant Object Matching using Stereo Camera

Abstract

In this paper, we present a method to increase the robustness and the efficiency of template-based object matching. Instead of preparing template of various scales and deformations, we use only one template and transform the appearance of the target object by placing a virtual camera seeing a very similar appearance to the template. This approach can solve the chronic problem of scale-dependence and distortion in the conventional template matching, and therefore be applied to the object detection and alignment tasks of general camera configuration systems. The proposed method has shown a good performance in the application of the service robot, Vistro, which attended the Robot Grand Challenge 2009 in Pohang, Korea.