Continuous dimensionality characterization of image structures
Image and Vision Computing
A strategy for grasping unknown objects based on co-planarity and colour information
Robotics and Autonomous Systems
Using multi-modal 3D contours and their relations for vision and robotics
Journal of Visual Communication and Image Representation
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In this work we propose a scheme integrating perceptual grouping into stereopsis to reduce the ambiguity of those early processes. We propose a simple perceptual grouping algorithm that - in addition to the geometric information makes use of a novel multi-modal affinity measure between local primitives. We then use this group information to 1) disambiguate the stereopsis by enforcing that stereo matches preserve groups; and 2) correct the reconstruction error due to the image pixel sampling using a linear interpolation over the groups. We show quantitative and qualitative demonstrations of those processes on a variety of sequences.