Stratified Dense Matching for Stereopsis in Complex Scenes

Kostková, Jana; Šára, Radim

doi:10.5244/c.17.33

Cited by 28 publications

(17 citation statements)

References 22 publications

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“…(Hirschmüller, 2008), try to find a balance between global energy minimization and low computation time by combining the local correspondence search with several 1D global energy functions along scan-lines. Another possibility for finding stereo correspondences are so-called Seed-and-Grow methods (Cech and Sara, 2007), (Kostkov, 2003). Starting from random seeds, disparities are grown.…”

Section: Related Workmentioning

confidence: 99%

Evaluation of Stereo Algorithms for Obstacle Detection With Fisheye Lenses

Krombach

Droeschel

Behnke

2015

ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci.

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ABSTRACT:For autonomous navigation of micro aerial vehicles (MAVs), a robust detection of obstacles with onboard sensors is necessary in order to avoid collisions. Cameras have the potential to perceive the surroundings of MAVs for the reconstruction of their 3D structure. We equipped our MAV with two fisheye stereo camera pairs to achieve an omnidirectional field-of-view. Most stereo algorithms are designed for the standard pinhole camera model, though. Hence, the distortion effects of the fisheye lenses must be properly modeled and model parameters must be identified by suitable calibration procedures. In this work, we evaluate the use of real-time stereo algorithms for depth reconstruction from fisheye cameras together with different methods for calibration. In our experiments, we focus on obstacles occurring in urban environments that are hard to detect due to their low diameter or homogeneous texture.

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Section: Related Workmentioning

confidence: 99%

Evaluation of Stereo Algorithms for Obstacle Detection With Fisheye Lenses

Krombach

Droeschel

Behnke

2015

ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci.

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“…If no model is available from a previous trackingmodeling session, the processing starts with a stereo-based reconstruction [6] of the visible part of the object. Albedo of each point is determined from the average of intensities at its projections onto images used for 3D reconstruction.…”

Section: Compensation Of Illuminationmentioning

confidence: 99%

Multiview 3D Tracking with an Incrementally Constructed 3D Model

Zimmermann

Svoboda

Matas

2006

Third International Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT'06)

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We propose a multiview tracking method for rigid objects. Assuming that a part of the object is visible in at least two cameras, a partial 3D model is reconstructed in terms of a collection of small 3D planar patches of arbitrary topology. The 3D representation, recovered fully automatically, allows to formulate tracking as gradient minimization in pose (translation, rotation) space. As the object moves, the 3D model is incrementally updated. A virtuous circle emerges: tracking enables composition of the partial 3D model; the 3D model facilitates and robustifies the multiview tracking.We demonstrate experimentally that the interleaved track-and-reconstruct approach successfully tracks a 360 degrees turn-around and a wide range of motions. Monocular tracking is also possible after the model is constructed. Using more cameras, however, significantly increases stability in critical poses and moves. We demonstrate how to exploit the 3D model to increases stability in the presence of uneven and/or changing illumination.

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“…In addition to local methods, a number of global and semi-global methods have been suggested [5][6][7][8]. One method that worked especially well was the probabilistic model named Efficient LArge-scale Stereo (ELAS) [9].…”

Section: Introductionmentioning

confidence: 99%

Absolute three-dimensional shape measurement using coded fringe patterns without phase unwrapping or projector calibration

2014

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This paper presents a novel stereo-phase-based absolute three-dimensional (3D) shape measurement that requires neither phase unwrapping nor projector calibration. This proposed method can be divided into two steps: (1) obtain a coarse disparity map from the quality map; and (2) refine the disparity map using wrapped phase. Fringe patterns are modified to encode the quality map for efficient and accurate stereo matching. Experiments demonstrated that the proposed method could achieve high-quality 3D measurement even with extremely low-quality fringe patterns. Disciplines Computer-Aided Engineering and Design | Mechanical Engineering CommentsThis paper was published in Optics Express and is made available as an electronic reprint with the permission of OSA. The paper can be found at the following URL on the OSA website: http://dx.doi.org/10.1364/ OE.22.001287. Systematic or multiple reproduction or distribution to multiple locations via electronic or other means is prohibited and is subject to penalties under law. Abstract:This paper presents a novel stereo-phase-based absolute three-dimensional (3D) shape measurement that requires neither phase unwrapping nor projector calibration. This proposed method can be divided into two steps: (1) obtain a coarse disparity map from the quality map; and (2) refine the disparity map using wrapped phase. Fringe patterns are modified to encode the quality map for efficient and accurate stereo matching. Experiments demonstrated that the proposed method could achieve high-quality 3D measurement even with extremely low-quality fringe patterns.

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Stratified Dense Matching for Stereopsis in Complex Scenes

Cited by 28 publications

References 22 publications

Evaluation of Stereo Algorithms for Obstacle Detection With Fisheye Lenses

Evaluation of Stereo Algorithms for Obstacle Detection With Fisheye Lenses

Multiview 3D Tracking with an Incrementally Constructed 3D Model

Absolute three-dimensional shape measurement using coded fringe patterns without phase unwrapping or projector calibration

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