A System for Automated Stereo Mapping,
Abstract
The past few years have seen a growing interest in the application of three-dimensional image processing. With the increasing demand for 3-D spatial information for tasks of passive navigation Generrgy 1980, Moravec 1980, automatic surveillance Henderson 1979, aerial cartography Kelly 1977, Panton 1978, and inspection in industrial automation, the importance of effective stereo analysis has been made quite clear. A particular challenge is to provide reliable and accurate depth data for input to object or terrain modelling systems (such as Brooks 1981b). This paper describes an algorithm for such stereo sensing. It uses an edge-based line-by-line stereo correspondence scheme, and appears to be fast, robust, and parallel implementable. The processing consists of extracting edge descriptions for a stereo pair of images, linking these edges to their nearest neighbors to obtain the edges to their nearest neighbors to obtain the edge connectivity structure, correlating the edge descriptions on the basis of local edge properties, then cooperatively removing those edge correspondences determined to be in error-those which violate the connectivity structure of the two images. A futher correspondence process, using a technique similar to that used for the edges, is applied to the image intensity values over intervals defined by the edge correspondence. The result of the processing is a full image array disparity map of the scene viewed. (Author)
Document Details
- Document Type
- Technical Report
- Publication Date
- Jan 01, 1982
- Accession Number
- ADP000127
Entities
People
- H. Harlyn Baker
- Thomas O. Binford
Organizations
- Stanford University