Using normal vectors for stereo correspondence construction

Authors:
Jung-Shiong Chang;Arthur Chun-Chieh Shih;Hong-Yuan Mark Liao;Wen-Hsien Fang
Affiliations:
Department of Electronic Engineering, National Taiwan University of Science and Technology, Taiwan;Institute of Information Science, Academia Sinica, Taiwan;Institute of Information Science, Academia Sinica, Taiwan;Department of Electronic Engineering, National Taiwan University of Science and Technology, Taiwan
Venue:
KES'05 Proceedings of the 9th international conference on Knowledge-Based Intelligent Information and Engineering Systems - Volume Part I
Year:
2005

Citing 4
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Abstract

In scenes of an outdoor environment, depth recovery by matching a pair of stereo images is not very successful due to the strong effect of noise and changing illumination. In contrast, the surface normal is relatively robust against the influence of noise or changing illumination compared to other frequently used features. In this paper, we propose a two-step approach to solve the 3-D depth recovery problem. In the first step, we use the intensity feature to execute a rough comparison. We then use the surface normal vector, which is a much more discriminating feature, as the search basis for the second step. In addition, the 3-D invariant nature of a surface normal improves the accuracy of the stereo image matching results. The maps reconstructed in our experiments on images of outdoor scenes show that our approach is indeed more efficient and accurate than conventional methods.