Augmenting range data obtained from stereoscopy with model-based image segmentation using planar patches

Zhang John Chen; Jagath K. Samarabandu

doi:10.1117/12.527095

28 May 2004 Augmenting range data obtained from stereoscopy with model-based image segmentation using planar patches

Zhang John Chen, Jagath K. Samarabandu

Proceedings Volume 5298, Image Processing: Algorithms and Systems III; (2004) https://doi.org/10.1117/12.527095
Event: Electronic Imaging 2004, 2004, San Jose, California, United States

Abstract

For any modern 3D vision guided system, it is imperative to have complete range images for 3D model reconstruction. In practice, depth images obtained from a standard stereo camera can be error-prone with missing depth pixels. This paper proposes a method to augment the range data obtained from stereoscopy with model based image segmentation using planar patches. The method integrates both intensity and range data obtained from a standard stereo system. First, edges are extracted and linked to different segments from the intensity image with the embedded confidence edge detection technique and a general edge-linking algorithm respectively. Since edges are where disparity happens, most straight-line edges segmented from linked edges using a line-curvature extraction algorithm will have valid depth data. The planar patches are then defined by the straight-lines edge. With the knowledge of the planar structure, each depth missing pixels in the region is then determined by various 3-D line equations that pass through the pixel in the world coordinate system. Lastly, the range data in the world coordinate system is converted back into the image coordinate system using a pixel-to-pixel project algorithm. Result demonstrates the accuracy of method for filling up the missing depth in a region.

Citation Download Citation

Zhang John Chen and Jagath K. Samarabandu "Augmenting range data obtained from stereoscopy with model-based image segmentation using planar patches", Proc. SPIE 5298, Image Processing: Algorithms and Systems III, (28 May 2004); https://doi.org/10.1117/12.527095

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