Fast point-of-interest detection from real-time stereo

Authors:
Tariq Khan;Morteza Biglari-Abhari;Georgy Gimel'farb;John Morris
Affiliations:
University of Auckland, New Zealand;University of Auckland, New Zealand;University of Auckland, New Zealand;University of Auckland, New Zealand and Mahasarakham University, Mahasarakham, Thailand
Venue:
Proceedings of the 27th Conference on Image and Vision Computing New Zealand
Year:
2012

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Abstract

The use of Points-of-Interest can significantly reduce computational complexity and memory required for high-level vision tasks. We describe a simple and effective technique to detect Points-of-Interest from noisy disparity maps generated by a real-time stereo system, which considers all sources of information, i.e. the disparity map and the left and right images of a stereo pair. The first step in our approach assigns states to each point and marks possible border points. Then we detect left and right image edges. Matching these three sources of information leads to the Points-of-Interest, which we call Triple Edge points. The final step identifies significant points by projecting the detected points to real-world 3D space. Generation of the Triple Edge points is computationally more efficient than other techniques of Point-of-Interest detection. Some simple experimental results show that the Triple Edge points are a reliable source of information for identifying multiple objects in low-texture scenes with noisy disparity maps. We argue that they can be used in other high-level tasks such as object extraction, pose estimation, recognition and 3D reconstruction.