オークルージョン情報を利用したオクルージョンエッジのステレオ対応付け Stereo Matching of Occluding Edges using the Information of Occluded Regions

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This paper describes a stereo matching algorithm for occluding contours in a cluttered background. It is generally difficult to match occluding contours in stereo images because the edge points of occluding contours may not be extracted or the contrasts of the corresponding edge points are not always similar.<br>The candidate region of an occluding contour is determined from the occluded region using a geometric constraint. In the first stage, edge points are extracted in the candidate region. For both the left small region (called a window) and the right window of an edge point, the possible regions in the other image are searched for the matching window respectively. If both the left and right windows are well matched, the edge point is determined to be the initial point on the occluding contour. In the second stage, the remaining part of the occluding contour is acquired. The disparities of the points in the remaining part are interpolated by using those of the known occluding contour points. A candidate point is supposed to be on the occluding contour, and then the degree of the matching is computed with the corresponding point, whose position is determined by the disparity, in the other image. The occluding contour is acquired by connecting the candidate points which optimize the criterion function in terms of the degree of matching and the smoothness of the occluding contour. Experiments have been executed for artificial and real images to verify this algorithm.

収録刊行物

  • 日本ロボット学会誌  

    日本ロボット学会誌 17(2), 218-226, 1999-03-15 

    The Robotics Society of Japan

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各種コード

  • NII論文ID(NAID)
    10002865642
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    4679022
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  NDL  J-STAGE 
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