Robust stereo for 3D acquisition

摘要

Abstract: The stereo analysis method is similar to the human visual system. Due to the way our eyes are positioned and controlled, our brains usually receive similar images of a scene taken from nearby points of the same horizontal level. Therefore the relative position of the images of an object will differ in the two eyes. Our brains are capable of measuring this difference and thus estimating the depth. Stereo analysis tries to imitate this principle. By locating corresponding positions in the two images, a stereo system can recover the geometrical relationships and thereby depth. Stereo computation is just one of the vision problems where the presence of outliers can not be neglected. Most standard algorithms make unrealistic assumptions about noise distributions, which leads to erroneous results that cannot be corrected in subsequent processing stages. In this work the standard area-based correlation approach is modified so that it can tolerate a significant number of outliers. The approach exhibits a robust behavior not only in the presence of mismatches but also in the case of depth discontinuities. Experimental results are given on synthetic images. !24