Depth reconstruction uncertainty analysis and improvement - The dithering approach

  • Authors:

  • Jiandan Chen;Siamak Khatibi;Wlodek Kulesza

  • Affiliations:

  • Blekinge Institute of Technology, SE-371 79 Karlskrona, Sweden;Blekinge Institute of Technology, SE-371 79 Karlskrona, Sweden;Blekinge Institute of Technology, SE-371 79 Karlskrona, Sweden

  • Venue:
  • Image and Vision Computing
  • Year:
  • 2010

Quantified Score

Hi-index 0.00

Visualization

Abstract

The depth spatial quantization uncertainty is one of the factors which influence the depth reconstruction accuracy caused by a discrete sensor. This paper discusses the quantization uncertainty distribution, introduces a mathematical model of the uncertainty interval range, and analyzes the movements of the sensors in an Intelligent Vision Agent System. Such a system makes use of multiple sensors which control the deployment and autonomous servo of the system. This paper proposes a dithering algorithm which reduces the depth reconstruction uncertainty. The algorithm assures high accuracy from a few images taken by low-resolution sensors. The dither signal is estimated and then generated through an analysis of the iso-disparity planes. The signal allows for control of the camera movement. The proposed approach is validated and compared with a direct triangulation method. The simulation results are reported in terms of depth reconstruction error statistics. The physical experiment shows that the dithering method reduces the depth reconstruction error.