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

3D Object Reconstruction Using Stereo and Motion / Grosso, Enrico; Sandini, G; Tistarelli, Massimo. - In: IEEE TRANSACTION ON SYSTEMS MAN AND CYBERNETICS. - ISSN 0018-9472. - 19:6(1989), pp. 1465-1476. [10.1109/21.44065]

3D Object Reconstruction Using Stereo and Motion

GROSSO, Enrico;TISTARELLI, Massimo
1989

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
3D Object Reconstruction Using Stereo and Motion / Grosso, Enrico; Sandini, G; Tistarelli, Massimo. - In: IEEE TRANSACTION ON SYSTEMS MAN AND CYBERNETICS. - ISSN 0018-9472. - 19:6(1989), pp. 1465-1476. [10.1109/21.44065]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11388/83304
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