Active stereo based surface reconstruction

Subhodev Das, Narendra Ahuja

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The problem of surface reconstruction from stereo images for large scenes having large depth ranges is considered. The passive stereo paradigm is inadequate for this problem because of the need to aim cameras in different directions and to fixate on different objects. An active stereo approach, in which the scene is systematically scanned and an image acquisition and surface reconstruction are integrated using a four-step process, is presented. First, a new fixation point is selected from among the nonfixated, low-resolution scene parts of current fixation. Then a reconfiguration of cameras is initiated for refixation. As reconfiguration progresses, the images of the new fixation point gradually deblur and the accuracy of the stereo estimate of the point improves. The improved stereo estimate is used to achieve accurate focus and vergence settings of the cameras for fixation. Finally, focus-based depth estimates are obtained at a grid near the fixation point whose density is determined by the local surface slope. These estimates are fused with those obtained from stereo using maximum likelihood (weighted averaging), and the interpolated values at nongrid points of the difference between the estimates at grid points are used to update the stereo estimates at nongrid points.

Original languageEnglish (US)
Title of host publicationProc 5 IEEE Int Symp Intell Control 90
PublisherPubl by IEEE
Pages233-238
Number of pages6
ISBN (Print)0818621087
StatePublished - Dec 1 1990
EventProceedings of the 5th IEEE International Symposium on Intelligent Control 1990 - Philadelphia, PA, USA
Duration: Sep 5 1990Sep 7 1990

Publication series

NameProc 5 IEEE Int Symp Intell Control 90

Other

OtherProceedings of the 5th IEEE International Symposium on Intelligent Control 1990
CityPhiladelphia, PA, USA
Period9/5/909/7/90

    Fingerprint

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Das, S., & Ahuja, N. (1990). Active stereo based surface reconstruction. In Proc 5 IEEE Int Symp Intell Control 90 (pp. 233-238). (Proc 5 IEEE Int Symp Intell Control 90). Publ by IEEE.