Biologically inspired 3D scene depth recovery from stereo images

This paper proposes a biologically inspired method for depth recovery from stereo rectified images. Two principles are used in order to speed-up the image matching phase: the photoreceptor information transmission (spike generation) principle and convenient coding of neuron (pixel) neighbourhood data. This latter provides the robustness to match and reduces its calculation time. The proposed method has been validated via Julesz's random dot stereograms. Any autonomous vision-guided system such as autonomous robots, walkers, electronic travel aids, ETA (for elderly, visually impaired, blind, etc.) can take benefit from the proposed depth recovery method: a new ETA, named intelligent glasses (IGI, for visually impaired assistance in their secure and independent displacements in non-cooperating environment, which will integrate the proposed method, is presented as well. The IG system is under design at the Robotics Laboratory of Paris (LRP), University Paris 6, and National Nuclear Testing Commission (CEA).