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Generation of dense range maps by data fusion from active and passive colour stereo vision

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3 Author(s)
Knoll, A. ; Dept. of Comput. Sci., Bielefeld Univ., Germany ; Schroder, R. ; Wolfram, A.

The problem of correspondence search in a stereo system may be alleviated if an active light source projects colour codes onto the scene. To reduce the amount of ambiguous or false matches, additional information drawn from feature-based passive stereo techniques can be used In this paper we discuss the application of fuzzy data fusion techniques to a dual-mode stereo system. Information from passive stereo is used whenever the active procedure cannot find an unambiguous match. The algorithm presented in the paper uses a fuzzy rule-based approach to integrate crisp as well as fuzzy input data. It is shown that the combination of data obtained in both modes of operation may lead to a significant increase in the number of matches meeting a certain credibility criterion. We present some of our experimental results based on real stereo image data and conclude the paper with a discussion of perspectives for possible future research

Published in:

Multisensor Fusion and Integration for Intelligent Systems, 1996. IEEE/SICE/RSJ International Conference on

Date of Conference:

8-11 Dec 1996