Inter-Image Statistics for Scene Reconstruction

  • Authors:
  • Affiliations:
  • Venue:
  • CRV '04 Proceedings of the 1st Canadian Conference on Computer and Robot Vision
  • Year:
  • 2004

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Abstract

This paper developed prior work which incrementallycompletes a sparse depth map based on inter-image statisticsinformation. In that prior work, we have observed thatpixel ordering of the incremental recovery is critical to thequality of the final results. In this paper we demonstrate improvedperformance using an information-driven recoverypolicy to determine this ordering. We have also observedthat the reconstruction across depth discontinuities was oftenproblematic as there was comparatively little constraintfor probabilistic inference at those locations. Further, suchlocations are often identified with edges in both the rangeand intensity maps. We address this problem by deferringthe reconstruction of voxels close to intensity or depth discontinuities,leading to improved results. We also show thatcolor information can improve reconstruction quality. Experimentalresults are presented to demonstrate the qualityof the recover and to illustrate some new application domainssuch as deblurring and underwater scattering compensation.