Binocular Stereo from Grey-Scale Images

  • Authors:
  • Mads Nielsen;Robert Maas;Wiro J. Niessen;Luc L. M. J. Florack;Bart M. Ter Haar Romeny

  • Affiliations:
  • 3D-Lab, School of Dentistry, University of Copenhagen, Nørre Alle 20, DK-2200 N;ISI, Utrecht University Hospital, Room E 01.334, Postbus 85500, NL-3508 GA Utrecht;ISI, Utrecht University Hospital, Room E 01.334, Postbus 85500, NL-3508 GA Utrecht;ISI, Utrecht University Hospital, Room E 01.334, Postbus 85500, NL-3508 GA Utrecht;ISI, Utrecht University Hospital, Room E 01.334, Postbus 85500, NL-3508 GA Utrecht

  • Venue:
  • Journal of Mathematical Imaging and Vision
  • Year:
  • 1999

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Abstract

Grey-scale images consist of physical measurements of light.Scale-space theories have been developed to unconfound thesemeasurements from the detector grid. In this framework, we look intothe problem of binocular stereo. On a sufficiently large scale, apixel carries information not only of the grey-value, but of theentire grey-value n-jet, i.e., derivatives up to order n. Thesubject of this paper is to show, in a general context, how thescale-space n-jet can be exploited for binocular matching. Theanalysis leads (under appropriate assumptions) to a directdetermination of the local n-jet of the disparity field. The generalresult is an analysis which could be incorporated into many existingstereo algorithms to improve their use of the grey value data. In thecomputational scheme presented here, the estimations are strictlylocal, but based on image derivatives at a scale where the imagestructure is significant. This scale is automatically selected byminimising computational uncertainty. Results are shown as directcomputations of surface normals on synthetic and real images.