Robust Surface Matching Method Using Integrating Edge Segments

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  • エッジ特徴を用いたロバスト三次元面計測法
  • エッジ トクチョウ オ モチイタ ロバスト サンジゲンメン ケイソクホウ

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Abstract

This paper describes novel area-based stereo-matching method which aims at reconstructing the shape of objects robustly, correctly, with high precision and with high density. Our goal is to reconstruct correctly the shape of the object by comprising also edges as part of the resulting surface. For this purpose, we need to overcome the problem of how to reconstruct and describe shapes with steep and sharp edges. Area-based matching methods set an image area as a template and search the corresponding match. As a direct consequence of this approach, it becomes impossible to correctly reconstruct the shape around steep edges. Moreover, in the same regions, discontinuities and discrepancies of the shape between the left and right stereo-images increase the difficulties for the matching process. In order to overcome these problems, we propose in this research the approach of reconstructing the shape of objects by embedding reliable edge line segments into the area-based matching process with parallax estimation. We propose a robust stereo-matching method which integrates edges and which is able to cope with differences in right and left image shape, brightness changes and occlusions. The method consists of the following three steps: (1) parallax estimation, (2) edge-matching, (3) edge-surface matching. The edge detection procedure was described with details in a previous work. In this paper, we describe and explain deeply the process of parallax estimation and the area-based surface-matching with integrated edges; the performance of the proposed method is also validated.

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