Three-dimensional scene reconstruction using optimal information fusion

Lang Hong

doi:10.1117/12.25269

1 April 1991 Three-dimensional scene reconstruction using optimal information fusion

Lang Hong

Proceedings Volume 1383, Sensor Fusion III: 3D Perception and Recognition; (1991) https://doi.org/10.1117/12.25269
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

The vision system described in this paper reconstructs 3-D scenes from sequences of noisy binocular images. First, the system establishes all possible matches between the feature pixels in the first binocular image pair and assigns a confidence value to a possible match. Because of finite resolution of cameras, each possible match is associated with a 3-D volume, instead of a 3-D point. The possible matches are used to predict projections of associated 3-D volumes onto the remaining binocular image pairs. These projections are utilized to limit searches for possible matches. The new matches are used to update confidence values using an optimal fusion algorithm. After fusion, matched pixels with high confidence values are considered as correct matches. The spatial uncertainty due to finite camera resolution is reduced by fusing the 3-D information provided by binocular image sequences.

Citation Download Citation

Lang Hong "Three-dimensional scene reconstruction using optimal information fusion", Proc. SPIE 1383, Sensor Fusion III: 3D Perception and Recognition, (1 April 1991); https://doi.org/10.1117/12.25269

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