Improved Stereo Vision of Indoor Dense Suspended Scatterers Scenes from De-scattering Images

摘要

Stereo vision is important in robotics since retrieving depth is very necessary in many robotics applications. Most of state-of-the-art stereo vision algorithms solve the problem with clear images but not the images corrupted by scattering. In this paper, we propose the stereo vision system for robot working in dense suspended scatterers environment. The imaging model of images taken in the environment under active light source based on single scattering phenomenon is analyzed. Based on that, scattering signal can be removed from images. The recovered images are then used as input image for stereo vision. The proposed method is then evaluated based on quality of stereo depth map.