Robust Shape Recovery from Occluding Contours Using a Linear Smoother

  • Authors:
  • Richard Szeliski;Richard Weiss

  • Affiliations:
  • Microsoft Research, One Microsoft Way, Redmond, WA 98052-6399. E-mail: szeliski@microsoft.com;Digital Equipment Corporation, 334 South Street, Shrewsbury, MA 01545. E-mail: weiss@vssad.hlo.dec.com

  • Venue:
  • International Journal of Computer Vision
  • Year:
  • 1998

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Abstract

Recovering the shape of an object from two views fails atoccluding contours of smooth objects because the extremal contours are viewdependent. For three or more views, shape recovery is possible, andseveral algorithms have recently been developed for this purpose. Wepresent a new approach to the multiframe stereo problem that does notdepend on differential measurements in the image, which may be noisesensitive. Instead, we use a linear smoother to optimally combine all ofthe measurements available at the contours (and other edges) in all of theimages. This allows us to extract a robust and reasonably dense estimate of surfaceshape, and to integrate shape information from both surface markings andoccluding contours. Results are presented, which empirically show that in the presence of noise, smoothing over more than three viewsreduces the error even when the epipolar curve is nonplanar.