3D Contour Model Creation for Stereo-Vision Systems

The present paper describes a method for automatic 3D contour model creation for stereo-vision systems. The object model is a triangular surface mesh and a set of aspect models, which consists of model features and model points. Model features and model points are generated using 3D contours, which are estimated by the projected images of the triangular surface mesh from multiple discrete viewing directions. Using a non-photorealistic rendering approach, we extract not only the outer contours but also the inner contours of the projected images. Using both the inner and outer contours of the projected images, we create the object model which has 3D inner contour features and 3D contour generator features. Experimental results obtained using the 3D localization algorithm demonstrate the effectiveness of the proposed model.