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EnglishThe extraction of reliable range data from images is investigated, considering, as a possible solution, the integration of different sensor modalities. Two different algorithms are used to obtain independent estimates of depth from a sequence of stereo images. The results are integrated on the basis of the uncertainty of each measure. The stereo algorithm uses a coarse-to-fine control strategy to compute disparity. An algorithm for depth-from-motion is used, exploiting the constraint imposed by active motion of the cameras. To obtain a 3D description of the objects, the motion of the cameras is purposefully controlled, in such a manner as to move around the objects in view while the gaze is directed toward a fixed point in space. This egomotion strategy, which is similar to that adopted by the human visuomotor system, allows a better exploration of partially occluded objects and simplifies the motion equations. When tested on real scenes, the algorithm demonstrated a low sensitivity to image noise, mainly due to the integration of independent measures. An experiment performed on a real scene containing several objects is presented.
3D object reconstruction using stereo and motion / Grosso, Enrico; Tistarelli, Massimo. - In: IEEE TRANSACTION ON SYSTEMS MAN AND CYBERNETICS. - ISSN 0018-9472. - 19:6(1989), pp. 1465-1476. [10.1109/21.44065]
| Titolo: | 3D object reconstruction using stereo and motion | |
| Autori: | ||
| Data di pubblicazione: | 1989 | |
| Rivista: | ||
| Citazione: | 3D object reconstruction using stereo and motion / Grosso, Enrico; Tistarelli, Massimo. - In: IEEE TRANSACTION ON SYSTEMS MAN AND CYBERNETICS. - ISSN 0018-9472. - 19:6(1989), pp. 1465-1476. [10.1109/21.44065] | |
| Abstract: | The extraction of reliable range data from images is investigated, considering, as a possible solution, the integration of different sensor modalities. Two different algorithms are used to obtain independent estimates of depth from a sequence of stereo images. The results are integrated on the basis of the uncertainty of each measure. The stereo algorithm uses a coarse-to-fine control strategy to compute disparity. An algorithm for depth-from-motion is used, exploiting the constraint imposed by active motion of the cameras. To obtain a 3D description of the objects, the motion of the cameras is purposefully controlled, in such a manner as to move around the objects in view while the gaze is directed toward a fixed point in space. This egomotion strategy, which is similar to that adopted by the human visuomotor system, allows a better exploration of partially occluded objects and simplifies the motion equations. When tested on real scenes, the algorithm demonstrated a low sensitivity to image noise, mainly due to the integration of independent measures. An experiment performed on a real scene containing several objects is presented. | |
| Handle: | http://hdl.handle.net/11388/263941 | |
| Appare nelle tipologie: | 1.1 Articolo in rivista |
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| Grosso_E_Articolo_1989_3D.pdf | Versione editoriale (versione finale pubblicata) | Non specificato | Open Access Visualizza/Apri |
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