Method for Determining Scattered Disparity Fields in Stereo Vision
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Abstract
In a system for stereo vision including two cameras shooting the same scene, a method is performed for determining scattered disparity fields when the epipolar geometry is known, which includes the steps of: capturing, through the two cameras, first and second images of the scene from two different positions; selecting at least one pixel in the first image, the pixel being associated with a point of the scene and the second image containing a point also associated with the above point of the scene; and computing the displacement from the pixel to the point in the second image minimising a cost function, such cost function including a term which depends on the difference between the first and the second image and a term which depends on the distance of the above point in the second image from a epipolar straight line, and a following check whether it belongs to an allowability area around a subset to the epipolar straight line in which the presence of the point is allowed, in order to take into account errors or uncertainties in calibrating the cameras.
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22 Claims
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1-11. -11. (canceled)
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12. A method for determining scattered disparity fields in stereo vision, comprising the steps of:
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capturing a first and a second image of a same scene from two different positions, so that at least one set of pixels of said first image is associated with a corresponding set of points on said second image; selecting at least one pixel in said first image; and determining a point of said second image associated with said pixel, wherein determining said point comprises minimising a cost function having as a variable a disparity vector between said pixel and said point and depending on a difference between the first and the second image in a window centered on said pixel and in a corresponding window centered on the point to be determined, said cost function comprising a term which depends in a monotonously increasing way on the distance of said point to be determined from an epipolar straight line in said second image associated with said pixel. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification