Stereo vision is important m determining three-dimensional positions of tile visible surfaces in images. Most existing stereo matching methods involve matching low-level image features such as edges. A stereo matching technique based on matching high-level image features is described in this paper. The high-level image features extracted are topographic structures, arc segments and region segme...

When stereo images are captured under less than ideal conditions, there may be inconsistencies between the two images in brightness, contrast, blurring, etc. When stereo matching is performed between the images, these variations can greatly reduce the quality of the resulting depth map. In this paper we propose a method for correcting sharpness variations in stereo image pairs which is performe...

We present a novel robust methodology for corresponding a dense set of points on an object surface from photometric values, for 3-D stereo computation of depth. We use two stereo pairs of images, each pair taken of exactly the same scene but under different illumination. By respectively dividing the left images and the right images of these pairs, a stereo pair of photometric ratio images is pr...

Stereopsis is the rich impression of three-dimensionality, based on binocular disparity-the differences between the two retinal images of the same world. However, a substantial proportion of the population is stereo-deficient, and relies mostly on monocular cues to judge the relative depth or distance of objects in the environment. Here we trained adults who were stereo blind or stereo-deficien...

This paper describes a humanoid robot system that can capture and mimic the motion of human body parts in real-time. The underlying vision system is able to automatically detect and track human body parts such as hands and faces in images captured by the robot’s eyes. It is based on a probabilistic approach that can detect and track multiple blobs in a 60-Hz stereo image stream on a standard du...

This paper presents the results of work carried out under the auspices of the joint ISPRS CNES Scientific Assessment Program of DEM generation from SPOT 5 high resolution stereoscopic (HRS) image data. A stereo pair of HRS images of Melbourne, Australia, with a ground sample distance of 5m in the along track direction, and 10m in the across track direction, was used to create digital surface mo...

This paper describes a system that combines stereo vision with a 5-DOF robotic manipulator, to enable it to locate and reach for objects by sight. Our system uses an affine stereo algorithm, a simple but robust approximation to the geometry of stereo vision, to estimate positions and surface orientations. It can be calibrated very easily with just four reference points. These are defined by the...

Traditional stereo systems have a small field of view which limits their usefulness for certain applications. By imaging curved mirrors, the field of view of conventional cameras can be enhanced. In this paper, we present the design of a compact panoramic stereo camera which uses parabolic mirrors and is capable of producing 360 panoramic depth maps at the rate of several frames per second. Vid...

We propose a method for extracting 3D position and posture of hands with stereo cameras. The main contribution of our research is that our method enables to track the position and posture in mobile environments by using stereo cameras. The hand is often observed with many occluded regions, since the hand has many joints. In previous methods, many cameras are required to extract the position and...

Visual tracking in endoscopic scenes is known to be a difficult task due to the lack of textures, tissue deformation and specular reflection. In this paper, we devise a real-time visual odometry framework to robustly track the 6-DoF stereo laparoscope pose using the quadrifocal relationship. The instant motion of a stereo camera creates four views which can be constrained by the quadrifocal geo...