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Accurate surface description from binocular stereo

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2 Author(s)
Cochran, S.D. ; Dept. of Electr. Eng. & Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA ; Medioni, G.

The authors present a stereo vision system in which they attempt to achieve robustness with respect to scene characteristics, from textured outdoor scenes to environments composed of highly regular man-made objects. The system offers the advantages of both area-based (dense map) and feature-based (accurate disparity) processing by combining them whenever possible. The authors are able to geneate a disparity map that is sufficiently accurate to allow them to detect depth and surface orientation discontinuities, provided that the resolution is fine enough. They use an area-based cross-correlation, along with an ordering constraint and a weak surface smoothness assumption to produce an initial disparity map. Unlike other approaches, however, a match is accepted only if both views agree on a correlation peak and this peak is strong enough. This disparity map is a blurred version of the true one, however, because of the smoothing inherent in the correlation. The problem is most acute at C0 (depth) and C1 (crease) discontinuities but can be mitigated by introducing the edge information: the disparity map is adaptively smoothed subject to the constraint that the disparity at edges is fixed

Published in:

Interpretation of 3D Scenes, 1989. Proceedings., Workshop on

Date of Conference:

27-29 Nov 1989