3-D surface description from binocular stereo
Cochran, S.D.
Medioni, G.
Dept. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: Oct 1992
Volume: 14,
Issue: 10
On page(s): 981-994
ISSN: 0162-8828
References Cited: 29
CODEN: ITPIDJ
INSPEC Accession Number: 4288325
Digital Object Identifier: 10.1109/34.159902
Current Version Published: 2002-08-06
Abstract
A stereo vision system that attempts to achieve robustness with
respect to scene characteristics, from textured outdoor scenes to
environments composed of highly regular man-made objects is presented.
It integrates area-based and feature-based primitives. The area-based
processing provides a dense disparity map, and the feature-based
processing provides an accurate location of discontinuities. An
area-based cross correlation, an ordering constraint, and a weak surface
smoothness assumption are used to produce an initial disparity map. This
disparity map is only a blurred version of the true one because of the
smoothing introduced by the cross correlation. The problem can be
reduced by introducing edge information. The disparity map is smoothed
and the unsupported points removed. This method gives an active role to
edgels parallel to the epipolar lines, whereas they are discarded in
most feature-based systems. Very good results have been obtained on
complex scenes in different domains
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