Mr. Zhang John Chen Profile

Zhang John Chen

at Univ of Western Ontario

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Proceedings Article | 28 May 2004 Paper

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

Zhang Chen, Jagath Samarabandu

Proceedings Volume 5298, (2004) https://doi.org/10.1117/12.527095

KEYWORDS: Image segmentation, Edge detection, Data modeling, Image processing algorithms and systems, 3D modeling, 3D image processing, Detection and tracking algorithms, Cameras, Stereo vision systems, Stereoscopy

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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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