Process for producing cartographic data by stereo vision
First Claim
1. A method for producing three dimensional cartographic data of a scene from n two-dimensional images of the scene, n being an integer higher than 2, said images being delivered by n respective detectors seeing the scene from different points of view, comprising the steps of:
- a) calibrating each detector i among said detectors for estimating parameters identifying n models Fi (x, y, z) each defining a relation between coordinates x, y, z of any point in the scene and coordinates (p, q)i of a projection of said any point in an image i among said n images;
b) matching each of (n−
1) couples of said images, each of said couples consisting of a same reference image selected among said n images, each match being made by searching an homolog of each of a plurality of pixels or zones constituting said reference image along a corresponding epipolar line of the other image of the couple;
c) in each of said (n−
1) couples of two images, each comprising one reference image, and for each pixel or each zone of the reference image, preparing a curve plotting a degree of similarity as a function of disparity along the epipolar line of the other image of the couple;
d) bringing back all said curves into a common reference frame for matching a maximum number of said images;
e) summing said curves and retaining a highest peak among all peaks of the curve resulting from the summation; and
f) deriving the coordinates x, y, z of each point from the disparity of the retained peak and from the parameter of the n models Fi (x, y, z).
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Abstract
The method produces three dimensional cartographic data of a scene from n two-dimensional images of the scene, n being an integer higher than 2. The images are delivered by n respective detectors seeing the scene from different points of view. In a first step, each detector i is calibrated for estimating parameters identifying n affine models Fi (x, y, z) each defining a relation between coordinates x, y, z of any point in the scene and coordinates (p, q)i of a projection of said any point in an image i among said n images. Each of (n−1) couples of images, (each couple consisting of a same reference image selected among said n images) is matched, each match being made by searching an homolog of each of pixels or zones constituting the reference image along a corresponding epipolar line of the other image of the couple. In each couple of two images, each comprising one reference image, and for each pixel or each zone of the reference image, a curve plotting a degree of similarity as a function of disparity along the epipolar line of the other image of the couple is prepared. All curves are brought into a common reference frame for matching a maximum number of images. All curves are summed and the highest peak is retained. The coordinates x, y, z of each point are derived from the disparity of the retained peak and from the parameter of the n models Fi (x, y, z).
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Citations
6 Claims
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1. A method for producing three dimensional cartographic data of a scene from n two-dimensional images of the scene, n being an integer higher than 2, said images being delivered by n respective detectors seeing the scene from different points of view, comprising the steps of:
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a) calibrating each detector i among said detectors for estimating parameters identifying n models Fi (x, y, z) each defining a relation between coordinates x, y, z of any point in the scene and coordinates (p, q)i of a projection of said any point in an image i among said n images;
b) matching each of (n−
1) couples of said images, each of said couples consisting of a same reference image selected among said n images, each match being made by searching an homolog of each of a plurality of pixels or zones constituting said reference image along a corresponding epipolar line of the other image of the couple;
c) in each of said (n−
1) couples of two images, each comprising one reference image, and for each pixel or each zone of the reference image, preparing a curve plotting a degree of similarity as a function of disparity along the epipolar line of the other image of the couple;
d) bringing back all said curves into a common reference frame for matching a maximum number of said images;
e) summing said curves and retaining a highest peak among all peaks of the curve resulting from the summation; and
f) deriving the coordinates x, y, z of each point from the disparity of the retained peak and from the parameter of the n models Fi (x, y, z). - View Dependent Claims (2, 3, 4, 5, 6)
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Specification