Toward a smart camera for fast high-level structure extraction

Roberto de Lima*, Jose Martinez-Carranza, Alicia Morales-Reyes, Walterio Mayol-Cuevas

*Corresponding author for this work

Research output: Contribution to journalArticle (Academic Journal)peer-review

1 Citation (Scopus)


This paper presents an initial framework to extract high-level structures from man-made environments, by means of a novel methodology that combines stereo vision, binary descriptors and parallel processing implemented on a GPU. High-level structures such as planes, spheres and cubes provide vital information of the world, essential to perform applications in the field of robotics, augmented reality and computer vision. However, their extraction involves several computational challenges, especially because their application context requires solving real-time and environment operation constraints. Hence, stereo vision-based attempts have been proposed, without achieving real-time performance because they require a rectification stage running in the frame-to-frame basis, increasing the computational burden. Therefore, in contrast to typical stereo algorithms, the proposed methodology is developed on the basis of a semi-calibrated stereo rig, which means that rectification stage is avoiding, thus enabling to invest computational cost in critical stages and consequently achieving a frame rate up to 50 fps for the whole process.

Original languageEnglish
Pages (from-to)685-699
Number of pages15
JournalJournal of Real-Time Image Processing
Issue number3
Early online date14 Jul 2017
Publication statusPublished - 1 Mar 2018


  • Binary descriptors
  • GPU
  • Real-time plane extraction
  • Semi-calibrated stereo
  • Smart camera

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