Experimental Results of Multiple-Baseline Stereo

Transcription

1 Presented a~ EEE Special Workshop,.Passive Ranging, Oct. 1991, Princeton, NJ Experimental Results of MultipleBaseline Stereo Takeo Kanade and Tomoharu Nakahara School of Computer Science Camegie Mellon University Pittsburgh, PA MultipleBaseline Stereo Algorithm M.Okutomi and T.Kanade. A MultipleBaseline Stereo. n EEE Conf. on Computer Vision and Pattern Recognition, pages 6369, EEE, (attached) 2. Experiment 1 (Horizontal baseline) 0 B object Filter kulg8eb aseline U Disparity Fig hput images ( Shrubbery ) Fig.2...lacian of Gaussian image ( Shrubbery ) Fig3... sometric plot of depth ( Shrubbery ) Fig.4... sometric plot of depth ( Parking meters ) 1

2 Fig3...sometric plot of depth ( Sand ) Fig.6. SSD and SSSD values vs. inverse Fig.7..nverse depth, difference from estimated inverse depth, and curvature of SSD from individual stereo pair near the minimum of sum of SSD (Case of good match) Fig.8. nverse depth, difference from estimated inverse depth, and curvature of SSD from individual streo pair near the minimum of sum of SSD (Case of occlusion) Part of the image with only horizontal features does not produce a good disparity map. 3. Experiment 2 (Horizontal and vertical Fig.9. Fig.10. Fig.11. Fig.12. nput images ( Comer ) sometric plot of depth of horizontal baseline ( Comer ) sometric plot of depth of horizontal and vertical baselines ( Comer ) SSD and SSSD values vs. inverse depth 4. Further research (1) F aralleiism 77 minutes on SUN4/75(28MpS).* 0.9 second on MASPAR(4096 processors)

3 ~ Focal Prcsemcd at EEE Special Workshop. "Passive Ranging", Ocr. 1991, Princeton, NJ (2) Classification of depth measurements ] (a) The minimum positions of the individual reliability pair's SSD functions near the answer C classification (b) Curvarure of SSD functions at the minimum (i) occlusion ' (c) The minimum values of SSD functions (3) Hardware implementation 5. Summary of experiments so far Table 1 mage acquisition (ii) terminal edge (iii) featureless length sow xc57 sow xc57 Table 2 mage processing Sand 5 lh 35m 10s SUN 4/40,16MPS h Shrubbery2 Comer Guide H: 3 240x lh 56m 25s 4/15, 2gmpS v:3 H:3 240x lh 55m 56s 4/75, 2gmpS v:3 H:3 240x h 29m 44s 4/75, 28mpS v:3 * See 4. Further research (1) Parallelism for improvement in processing time. 3

4 ~~ Presented at EEE Special Workshop. Passive Ranging. Oct Princeton, NJ (a) 1st (left most) (b) 2nd (c) 3rd (d) 7th (right most) Fig1 Shrubbery data

5 Presented at EEE Special Workshop, "Passiw Ranging", Oct Primeron, NJ Fig2 Laplacian of Gaussian image 5

6 Presenled at EEE Special Workshop, Passive Ranging, Oct Princeton, NJ Fig3 sometric plot of depth ( Shrubbery ) 6

7 Presented at EEE Special Workshop, Passive Ranging, Oct Princeton. NJ Fig.4 sometric plot of depth ( Parking meters ) 7

8 Presemed a! EEE Special Workhop. "Passive Ranging", Oct. 1991, Princeton. NJ Fig.5 sometric plot of depth ("Sand") 8

9 Prcscrucd at EEE Spccinl Workshop, "Passive Ranging", Oct Princeton, NJ 240 zzoloo 1.m ; m 1.00 am a60 a40 am am am nm s.m 1n.m 1s.m mm (a) Good match mvcne dqxb so.m '., 'a. ram 30.m MOO 1o.m....''. am nm 5.m inm ism (b) Occlusion mvenr L bl ~sorn~,' 4alm t 3so.m 1 m Osu m.m L' ' 5.0 1om ls.m 1 Qwrdcprb (c) Featureless Fig.6 SSD and SSSD values vs. inverse depth 9

10 Presenied ai EEE Special Workshop, Passive Ranging. Ocr. 1991, Princeton, NJ Point with Good Match ( Sand ) l4ooil 12.00! L! i 4.00 b 2.00 : i 000 b8xh (a) nverse depth (b) Curvature of SSD (c) Difference from estimated inverse depth Fig.7 nverse depth, difference from estimated inverse depth, and curvature of SSD from individual stereo pair near the minimum sum of SSD values (Case of good match)

11 Point with Occlusion ("Parking meters") mm cpch "001!d.u j:,_. :: j "c"ec :: ;; i :! :: bprlinc (a) nverse depth i. *./ 200,i* / lam v_ m'oo. 0.00, (b) Curvature of SSD (c) Difference from estimated inverse depth Fig8 nverse depth, difference from estimated inverse depth, and curvature of SSD from individual stereo pair near the minimum sum of SSD values (Case of Occlusion) 11

12 ..,. Prcscnred at EEE Special Workshop, Passive Ranging, Oct. 1991, Princcton. NJ building (a) Up most TV camera Q (b) Left most (c) Right most Fig. 9 nput images ( Comer )

13 Presented a1 EEE Special Workshop, '%ssive Ranging", Oct. N, Princeton, NJ Fig. 10 sometric plot of depth of horizontal baseline 13

14 ... Presented atleee Special Workshop. "Passive Ranging", Oct. 1991, Princeton, NJ Fig. 1 1 sometric plot of depth of horizontal and vemcal baselines 14

15 Prcsed cu EEE Special Workshop, "Passive Ranging", Oct. 1Wl. Princeton. NJ Fig.12 SSD and SSSD values vs. inverse depth 15

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