28 May 2004 Augmenting range data obtained from stereoscopy with model-based image segmentation using planar patches
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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.
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Zhang John Chen, Zhang John Chen, Jagath K. Samarabandu, 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); doi: 10.1117/12.527095; https://doi.org/10.1117/12.527095
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