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We present a new method for segmenting color images into their composite surfaces by combining color segmentation with model-based fitting utilizing sparse depth data, acquired using time-of-flight (Swissranger, PMD CamCube) and stereo techniques. The main target of our work is the segmentation of plant structures, i.e., leaves, from color-depth images, and the extraction of color and 3D shape information...
Stereo vision is the process of recovering 3D spatial information from a pair of 2D images. It is very difficult problem due to the fact that stereo matching problem tends to produce as large number of plausible solutions. Thus we need to restrict the solution space in some manner. Trellis-based stereo matching algorithm places hard constraints on the solution by considering the geometry of stereo...
This paper presents a signal processing pipeline of rendering multiple views for autostereoscopic video displays. This system converts two-view videos into multiple views through video rectification, depth map estimation, and multiple views rendering.
In this paper, we propose a fast graph cut (GC) algorithm for disparity estimation. Two accelerating techniques are suggested: one is the early termination rule, and the other is prioritizing the α-β swap pair search order. Our simulations show that the proposed fast GC algorithm outperforms the original GC scheme by 210% in the average computation time while its disparity estimation quality is almost...
1D optimization methods based on dynamic programming (DP) stereo are of practical interest because it can reconstruct an observed 3D optical surface very quickly and thus has potential for real-time applications. While being efficient, its performance is far from the state of the art because the vertical consistency between the scanlines is not enforced. 1D optimization based on dynamic programming...
Stereo matching techniques usually match segments or blocks of pixels. This paper proposes to match segments defined as fuzzy sets of pixels. The proposed matching method is applicable to various techniques of stereo matching as well as to different measures of differences between pixels. In the paper, embedment of this approach into the state-of-the-art depth estimation software is described. Obtained...
In order to obtain depth perception in computer vision, it is needed to process pairs of stereo images. This process is computationally challenging to be carried out in real-time, because it requires the search for matches between objects in both images. Such process is significantly simplified if the images are rectified. Stereo image rectification involves a matrix transformation which when done...
We presented an application of SURF operator and epipolar constraint for stereo matching of binocular citrus images. First, R-B space images were achieved by linear transform of original images' color space. Second, fast Hessian-matrix detector was used to detect the interest points and the SURF descriptor was used to describe the points' features. Finally, Euclidean distance and the epipolar constraint...
In this paper, we build the stereo vision system on a UAV named “Sky-walker” which was designed and created in Shanghai Jiaotong University. Used the image processing technique, we improved the feature points matching algorithm and made higher success rate. Then in the 3D reconstruction, we managed to reconstruction a large amount of 3D feature points, at last we tested the results deviation.
Stereo vision and hand-eye calibration is one of the most important and fundamental tasks in visually guided robotic control tasks. The work presented in this paper aims to develop an accurate camera based stereo vision and hand-eye calibration algorithm that is robust enough to be used in a robotic arc welding system. The proposed calibration method allows the object reference frame to be directly...
Local stereo matching could deliver accurate disparity maps by the associated method, like adaptive support-weight, but suffers from the high computational complexity, O(NL), where N is pixel count in spatial domain, and L is search range in disparity domain. This paper proposes a fast algorithm that groups similar pixels into super-pixels for spatial reduction, and predicts their search range by...
Vision-based driver assistance system in complex urban area is highly demanding. The basic requirement for the system is the capacity of detecting potential obstacles. In particular, the automobile, it is more dangerous than other objects. Facing the sensitive area called as “interesting area” in front of the driver within a certain range, this paper presents an object detection method fully using...
This paper presents a system where online game players can track the reactions and body movements of others by using only a small bandwidth. A depth map generation and depth layer separation system is presented which allows the game manufacturer to send customized information to different parties. The stereo image acquisition and depth map generation system is implemented on a single FPGA device....
We present a new disparity refinement algorithm that utilize color information of the reference image to generate sharp disparity maps. While existing methods use iterative approaches or require multiple disparity maps, the proposed algorithm uses a single pass approach to reduce errors at depth discontinuities. The experimental results are evaluated on the Middlebury benchmark dataset; show the effectiveness...
Despite the significant number of stereo vision algorithms proposed in literature in the last decade, most proposals are notably computationally demanding and/or memory hungry so that it is unfeasible to employ them in application scenarios requiring real-time or near real-time processing on platforms with limited resources such as embedded devices. In this paper, we have selected the subset of proposals...
An obstacle detection algorithm based on U-V disparity map analysis is presented in this paper. We firstly introduce the obstacle detection mechanism using U-V disparity map generated from stereo match disparity map, and then an obstacle detection algorithm based on analysis of U-V disparity map characteristic is described. The combination of straight line fitting and the standard Hough Transform...
Stereo vision algorithms can be divided into several general stages. Detailed analysis on each specific stage allows focused improvement of the entire algorithm. Existing stereo vision algorithms typically prioritize pixel and sub-pixel accuracy, focusing on the optimization stage, while commercial algorithms which prioritize real-time operation typically focus on the cost calculation stage. This...
Rank and census transforms provide high resistance to radiometric distortion, vignette, and noise because they are based on the relative ordering of local pixel intensity values rather than the pixel values themselves. These transforms are widely used in many computer vision applications. An important step of computing these transforms is to compare or rank two grayscale values, which is very much...
An alternative form of stereoscopic video is the combination of 2-D video from an ordinary 2-D video camera and depth information from a laser range or depth camera. When this type of 3-D video is compressed and transmitted over error prone channels, the associated packet loss leads to poor visual quality. Therefore, a depth image-based error concealment for 3-D video transmission is proposed, which...
Depth maps estimated using stereo matching between frames from different video views typically exhibit false contours and noisy artifacts around object boundaries. In this paper, iterative joint multilateral filtering is proposed to deal with these artifacts. The proposed filter consists of multiple filter kernels. Knowing that the estimated depth maps are erroneous, besides the kernels which measure...
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