Scene interpretation based on boundary representations of stereoimages

摘要

The problem of detecting occluding and ridge edges is solved forobjects with planar surfaces, using stereo vision that is based ondirectional boundary segments of regions in a pair of stereo images.Methods are proposed to detect occlusions in which occluding edges areexplicitly identified: to classify the other unidentified edges aseither occluding or ridge edges, using the explicitly occluding edges toclassify ridge edges further as convex, concave, or flat (paint orshadow) edges, based on the surface normals of both sides of the edges;and to classify the space of the scene into free, occupied, oruninterpretable real surfaces