Depth maps from stereo vision

Depth map animation of a corridor sequence produced from stereo images. Lighter intensities indicate larger disparities (closer to the camera). Original stereo images were supplied by Jose-Luis Blanco-Claraco and processing was done using the Sentience mobile robot perception system.

Category:

Science & Technology

Tags:

• stereo
• vision
• correspondence
• depth
• map

[motters2001]

They could be, but more likely it's just an artefact of the matching algorithm.

[motters2001]

Sorry, that description was wrong. This is the dense version, which sticks more religiously to the Reed & Cumming paper. The images are convolved with gabor filters on a couple of spatial scales, then correlation/anticorrelation is applied.

[motters2001]

It's a very simple algorithm which finds vertically and horizontally oriented edges, then uses the "impossible stimuli" anticorrelation method described by Reed & Cumming using local binary descriptors. On a PC this method easily runs at frame rate speeds, and it just about runs at an acceptable speed on the blackfins.

[scythiconatron]

Are the horizontal lines caused by iterlacing in the original stereo images? I encountered this trying to make 3D videos.

[LeoStorm85]

Very good, what's the correspondence algorithm used?

[dameandrake]

So this is how robots see the world as they go looking for humans to destroy :D. Very cool.