10.1.1.57.1018

10.1.1.57.1018 - D e tec t iono fO cc lud ingC on tou rs...

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Unformatted text preview: D e tec t iono fO cc lud ingC on tou rs andO cc lu s ion byA c t iv eB inocu la rS tereo A tsu sh iN ISH IKAW A ,N o r iak iM ARU andF um ioM IYA ZAK I F a cu ltyo fE ng in eer ingS c ien ce O sakaU n iv ers ity O saka560 ,Japan A b strac t |W ep ropo sea re liab lem ethod tod etectocc lud ingcon tou rsandocc lu s ion byact iv eb inocu la rstereow ithanocc lud ingcon tou rm od e ltha td escr ib esth eco rre- spond en ceb etw een th econ tou ro fcu rv edob jectsand itsp ro jected im age .A pp ly ing th e im age ow gen era tedbym ov ingon ecam era to th em od e l,w ecan restr ictpo ss ib le m a tch edpo in tsseenby th eo th ercam era .W ed etectocc lud ingcon tou rsbytt ing th esem a tch edpo in tstoth em od e l.T h ism ethodcanndocc lud ingcon tou rsand occ lu s ionm o rere liab ly than conv en t iona lon esb ecau sestereom a tch ing isp er fo rm ed byu s ingth egeom etr iccon stra in tba sedon th eocc lud ingcon tou rm od e lin steado f h eu r ist iccon stra in ts .E xp er im en ta lresu ltso fth ep ropo sedm ethodapp lied toth e actua lscen ea rep resen ted . 1 .In trodu c t ion In tr iangu la t ion su cha sb inocu la rstereo ,th em ea su rem en terro r iso ftengen- era tedon th econ tou ro facu rv edob jec tb ecau seapo in ton th econ tou rseen byon ecam eracanno tb esom e t im esseenby th eo th ercam era .T h esev iew- d ep end en tcon tou rsa reca lleda s con tou rgen era to rs ,and th e irp ro jec ted im age a s occ lud in gcon tou rs (seeF igu re1 ) . T h eocc lud ingcon tou r isan im po rtan tsou rceo fgeom e tr ic in fo rm a t ion abou t its3-D shap ea s fo llow s : 1 Su r faceo r ien ta t iona long th eocc lud ingcon tou rcanb eun iqu e lycom- pu ted from im ageda ta [1 ]. 2 Q ua lita t iv esu r faceshap e (su cha se llip t ic ,hyp erbo lic ,pa rabo lic )canb e est im a ted from th es igno fth ecu rva tu reo fth eocc lud ingcon tou r [2 ]. 3 Su r facecu rva tu recanb eest im a ted from th ed e fo rm a t iono fth eocc lud ing con tou rund erknow nv iew erm o t ion [3 ]. T h ere fo re ,it isv eryu se fu lfo rava r ie tyo frobo t icapp lica t ion s| su cha s nav iga t ion ,m o t ionp lann ing ,ob jec trecogn it ionandm an ipu la t ion| tod ev e lop a re liab lem e thodo fd e tec t ing th eocc lud ingcon tou r .F ew resea rch ers ,how ev er , try to so lv eth ep rob lem o f de tec tin g occ lud ingcon tou rs in th e im age . Left Image Right Image Occluding Contour Contour Generator (seen by Left camera) (seen by Right camera) Contour Generator Curved Object (Cylinder) F igu re1 .R e la t ionb e tw eenocc lud ingcon tou rand con tou rgen era to r R ecen t ly ,V a illan te ta l.[4 ]andC ipo llae ta l.[5 ]hav e ind ep end en t lyp ropo sed an eec t iv em e thod tod e tec tocc lud ingcon tou rs in th e im age .T h eyu sem o re than th reev iew sto id en t ifyocc lud ingcon tou rsbytt inga ser ieso fp ro jec ted im agesto th eequa t ionw h ichd escr ib esth ere la t ion sh ipb e tw een th eocc lud ing con tou rsand th esu r faceo fth eob jec t .T....
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This note was uploaded on 03/27/2010 for the course CS 123 taught by Professor Darghooz during the Spring '10 term at Albion College.

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10.1.1.57.1018 - D e tec t iono fO cc lud ingC on tou rs...

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