Generation of Dense Range Maps by Data Fusion from Active and Passive Colour Stereo Vision

from Active and Passive Colour Stereo Vision Alois Knoll, Ralf Schr oder, and Andr e Wolfram University of Bielefeld, Faculty of Technology, Department of Computer Science, Postfach 10 01 31, D-33501 Bielefeld, Germany Abstract The problem of correspondence search in a stereo system may be alleviated if an active light source projects colour codes onto the scene. To reduce the amount of ambiguous or false matches, additional information drawn from feature-based passive stereo techniques can be used. In this paper we discuss the application of fuzzy data fusion techniques to a dual-mode stereo system. Information from passive stereo is used whenever the active procedure cannot nd an unambiguous match. The algorithm presented in the paper uses a fuzzy rule-based approach to integrate crisp as well as fuzzy input data. It is shown that the combination of data obtained in both modes of operation may lead to a signi cant increase in the number of matches meeting a certain credibility criterion. We present some of our experimental results based on real stereo image data and conclude the paper with a discussion of perspectives for possible future research.