This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: Mar 1994
Volume: 16,
Issue: 3
On page(s): 227-240
ISSN: 0162-8828
References Cited: 46
CODEN: ITPIDJ
INSPEC Accession Number: 4679811
Digital Object Identifier: 10.1109/34.276122
Current Version Published: 2002-08-06
Abstract
This paper develops and demonstrates a new computational framework
for an accurate, robust, and efficient stereo approach. In
multi-primitive hierarchical (MPH) computational model, stereo analysis
is performed in multiple stages, incorporating multiple primitives,
utilizing a hierarchical control strategy. The MPH stereo system
consists of three integrated subsystems: region-based analysis module;
linear edge segment-based analysis module; and edgel-based stereo
analysis module. Results of stereo analysis at higher levels of the
hierarchy are used for guidance at the lower levels. The MPH stereo
system does not overly rely on one type of primitive and therefore will
reliably work on a wide range of scenes. The MPH stereo analysis results
in the generation of several disparity maps of multiple abstraction.
Disparity maps generated at each level can be fused to obtain an
accurate and fine resolution disparity map. The MPH approach also
provides the capability to selectively analyze image regions with
varying detail. This provides the means for adaptively extracting range
information of only sufficient resolution. Thus, a stereo system that
utilizes primitives of different abstraction and a multilevel
hierarchical computational strategy will be superior to a single-level,
single-primitive system. Extensive experimentation is carried out on a
wide array of scenes of varying complexity from two application domains
to systematically evaluate the validity and performance of the MPH
framework. The MPH stereo system is able to analyze images in most cases
with 85%~100% matching accuracy in under a minute of processing time and
yield depth values typically within ±2% of the actual depth
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