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3D object reconstruction using stereo and motion

Grosso, Enrico and Sandini, Giulio and Tistarelli, Massimo (1989) 3D object reconstruction using stereo and motion. IEEE Transactions on Systems, Man and Cybernetics, Vol. 19 (6), p. 1465-1476. ISSN 0018-9472. Article.

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DOI: 10.1109/21.44065


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.

Item Type:Article
ID Code:3588
Uncontrolled Keywords:Computer vision, computerised pattern recognition, computerised picture processing
Subjects:Area 09 - Ingegneria industriale e dell'informazione > ING-INF/05 Sistemi di elaborazione delle informazioni
Divisions:001 Università di Sassari > 01 Dipartimenti > Economia, impresa, regolamentazione
001 Università di Sassari > 01 Dipartimenti > Architettura e pianificazione
Publisher:IEEE Systems, Man, and Cybernetics Society
Copyright Holders:© 1989 IEEE
Publisher Policy:Depositato in conformità con la politica di copyright dell'Editore
Deposited On:02 Mar 2010 13:13

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