Detection of range discontinuities in stereoscopic imagery
First Claim
Patent Images
1. A method of generating range discontinuity information in an imaged scene, comprising the steps of:
- a) locating intensity transitions in a pair of stereoscopically related images of said scene;
b) locating identifiably corresponding intensity transitions in said related images;
c) computing a parameter related to the range of said corresponding intensity transitions;
d) defining closed regions of similar intensity in said scene;
e) assigning to said regions parameter values derived from the computed parameter of corresponding intensity transitions lying within said regions; and
f) locating the boundary between adjacent regions for which said assigned parameter values are substantially different.
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Abstract
Range discontinuities (44) in an imaged scene are located with superior accuracy by using a pair of stereoscopically related images (10, 12) of the scene to sense edges in the scene, and to determine the range of correlatable image pixels; segmenting the scene into regions (36) of similar intensity; assigning to each region (36) a range based upon the range of any correlatable pixels in it; and locating the boundary (44) between adjacent regions of substantially dissimilar range.
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Citations
6 Claims
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1. A method of generating range discontinuity information in an imaged scene, comprising the steps of:
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a) locating intensity transitions in a pair of stereoscopically related images of said scene; b) locating identifiably corresponding intensity transitions in said related images; c) computing a parameter related to the range of said corresponding intensity transitions; d) defining closed regions of similar intensity in said scene; e) assigning to said regions parameter values derived from the computed parameter of corresponding intensity transitions lying within said regions; and f) locating the boundary between adjacent regions for which said assigned parameter values are substantially different. - View Dependent Claims (2, 3)
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4. Apparatus for reconstructing three-dimensional image information from a pair of stereoscopically related two-dimensional images of a scene, comprising:
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a) means for detecting intensity transitions in said scene; b) means for determining a range-related parameter of identifiably corresponding ones of said intensity transitions in said images; c) means for establishing in one of said images closed regions of similar intensity; d) means for assigning to each of said regions parameter values derived from the parameters determined for transitions lying within said regions; and e) means for generating an indication of the boundary between adjacent regions having substantially different parameter values assigned to said regions. - View Dependent Claims (5)
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6. A method of reconstructing three-dimensional image information from a pair of stereoscopically related two-dimensional images of a scane, comprising the steps of:
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a) detecting intensity transitions in said scene; b) determining a range-related parameter of identifiably corresponding ones of said intensity transitions in said images; c) establishing in one of said images closed regions of similar intensity; d) assigning to each of said regions parameter values derived from the parameters determined for transitions lying within said regions; and e) generating an indication of the boundary between adjacent regions having substantially different parameter values assigned to said regions.
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Specification