Student or educator? Sign up with your school email and get 6 months of Pro free.
CoChat
Sign Up
Cited by 1,089

The DOI matches its Crossref record; 5 of the 5 references it cites were found in a registry or an index.

StereoScan: Dense 3d reconstruction in real-time

Geiger, Andreas, Ziegler, Julius, Stiller, Christoph·2011·2011 IEEE Intelligent Vehicles Symposium (IV)
DOI 10.1109/ivs.2011.5940405
Open this paper in CoChat — free account

Abstract

Accurate 3d perception from video sequences is a core subject in computer vision and robotics, since it forms the basis of subsequent scene analysis. In practice however, online requirements often severely limit the utilizable camera resolution and hence also reconstruction accuracy. Furthermore, real-time systems often rely on heavy parallelism which can prevent applications in mobile devices or driver assistance systems, especially in cases where FPGAs cannot be employed. This paper proposes a novel approach to build 3d maps from high-resolution stereo sequences in real-time. Inspired by recent progress in stereo matching, we propose a sparse feature matcher in conjunction with an efficient and robust visual odometry algorithm. Our reconstruction pipeline combines both techniques with efficient stereo matching and a multi-view linking scheme for generating consistent 3d point clouds. In our experiments we show that the proposed odometry method achieves state-of-the-art accuracy. Including feature matching, the visual odometry part of our algorithm runs at 25 frames per second, while - at the same time - we obtain new depth maps at 3-4 fps, sufficient for online 3d reconstructions.

Overview

The claims and statistics of this paper haven’t been checked yet.

Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.

A few free checks a day · papers already verified open instantly · results are public

Integrity signals

Registry

Crossref · 10.1109/ivs.2011.5940405

Cites

5 of 5 references verified0 citation errors · 0 not checkable

Statistics

Verification

Claims the paper makes

The claims and statistics of this paper haven’t been checked yet.

Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.

A few free checks a day · papers already verified open instantly · results are public

Self-check

Percentages, sums and reported differences re-computed from the paper’s own numbers.

The self-check needs the paper’s full text.

Citations

Cites

Show all 5 references

Research works printed but not linked: 21

  1. 10.1109/CVPR.2010.5539804 · DOI · Paper page
  2. 10.1109/CVPR.2011.5995641 · DOI
  3. geiger, 2010, Efficient large-scale stereo matching, ACCV
  4. gupta, 2010, Blocks world revisited: Image understanding using qualitative geometry and mechanics, ECCV
  5. 10.1109/ICCV.2005.107 · DOI · Paper page
  6. jennings, 1997, Stereo vision based mapping and navigation for mobile robots, IEEE Conference on Robotics and Automation, 1694
  7. 10.1109/IVS.2010.5548123 · DOI · Paper page
  8. koch, 1998, Multi viewpoint stereo from uncalibrated video sequences, ECCV, 55
  9. konolige, 2006, Outdoor mapping and navigation using stereo vision, International Symnosium on Experimental Robotics
  10. montemerlo, 2002, Fastslam: A factored solution to the simultaneous localization and mapping problem, National Conference on Artificial Intelligence AAAI, 593
  11. badino, 2009, The stixel world - a compact medium level representation of the 3d-world, DAGM, 51
  12. frahm, 2010, Building rome on a cloudless day, ECCV, 368
  13. durrant-whyte, 2006, Simultaneous localisation and mapping, IEEE Robotics and Automation magazine, 2, 2006
  14. 10.1109/3DPVT.2006.141 · DOI
  15. 10.1016/j.isprsjprs.2010.08.009 · DOI
  16. 10.1109/ICCV.2009.5459148 · DOI · Paper page
  17. 10.1109/ICPR.2006.479 · DOI · Paper page
  18. 10.1023/B:VISI.0000025798.50602.3a · DOI · Paper page
  19. 10.1109/IVS.2010.5548114 · DOI
  20. 10.1109/ICCV.2007.4408828 · DOI
  21. 10.5244/C.20.3 · DOI

Cited by

See all 1,089

Metadata

Authors
Geiger, A., Ziegler, J., & Stiller, C.
Venue
2011 IEEE Intelligent Vehicles Symposium (IV)
Publisher
IEEE
Published
2011-06
Pages
963-968
ISSN
1931-0587 (ISSN-L)
DOI
10.1109/ivs.2011.5940405
OpenAlex
W2168676389
Cited by
1,089
References
5
FWCI
37.31
Type
conference paper
Language
en
Open access
closed

About these checks

Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.

Statistics and arithmetic are recomputed, not judged.

Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.

What counts as a claim ›How we measure confidence ›How we check this ›

Are you an author, or do you see a problem with this page? Request a review

How to cite

Cite CoChat for the checks on this page, and the paper for its own findings.

This page
CoChat. (2026). Citation check: StereoScan: Dense 3d reconstruction in real-time. https://app.cochat.ai/papers/10.1109/ivs.2011.5940405
The paper
Geiger, A., Ziegler, J., & Stiller, C. (2011). StereoScan: Dense 3d reconstruction in real-time. 2011 IEEE Intelligent Vehicles Symposium (IV). https://doi.org/10.1109/ivs.2011.5940405

Data sources

Bibliographic data: Semantic Scholar, OpenAlex, Crossref.

Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).

Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.