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Proceedings Article

Dense point-cloud creation using superresolution for a monocular 3D reconstruction system

[+] Author Affiliations
Yakov Diskin, Vijayan K. Asari

Univ. of Dayton (United States)

Proc. SPIE 8399, Visual Information Processing XXI, 83990N (May 1, 2012); doi:10.1117/12.919620
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From Conference Volume 8399

  • Visual Information Processing XXI
  • Baltimore, Maryland, USA | April 23, 2012

abstract

We present an enhanced 3D reconstruction algorithm designed to support an autonomously navigated unmanned aerial system (UAS). The algorithm presented focuses on the 3D reconstruction of a scene using only a single moving camera. In this way, the system can be used to construct a point cloud model of its unknown surroundings. The original reconstruction process, resulting with a point cloud was computed based on feature matching and depth triangulation analysis. Although dense, this original model was hindered due to its low disparity resolution. As feature points were matched from frame to frame, the resolution of the input images and the discrete nature of disparities limited the depth computations within a scene. With the recent addition of the preprocessing steps of nonlinear super resolution, the accuracy of the point cloud which relies on precise disparity measurement has significantly increased. Using a pixel by pixel approach, the super resolution technique computes the phase congruency of each pixel's neighborhood and produces nonlinearly interpolated high resolution input frames. Thus, a feature point travels a more precise discrete disparity. Also, the quantity of points within the 3D point cloud model is significantly increased since the number of features is directly proportional to the resolution and high frequencies of the input image. The contribution of the newly added preprocessing steps is measured by evaluating the density and accuracy of the reconstructed point cloud for autonomous navigation and mapping tasks within unknown environments.© (2012) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Citation

Yakov Diskin and Vijayan K. Asari
"Dense point-cloud creation using superresolution for a monocular 3D reconstruction system", Proc. SPIE 8399, Visual Information Processing XXI, 83990N (May 1, 2012); doi:10.1117/12.919620; http://dx.doi.org/10.1117/12.919620


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