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 C/sub 0/ (depth) and C/sub 1/ (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.<>


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    Title :

    Accurate surface description from binocular stereo


    Contributors:
    Cochran, S.D. (author) / Medioni, G. (author)


    Publication date :

    1989-01-01


    Size :

    1122949 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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