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Proceedings Paper

Depth map from a sequence of two monocular images
Author(s): M. Ali Taalebinezhaad; Denis Poussart
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Paper Abstract

Depth map recovery is one of the central tasks in active vision systems. In many applications such as path planning and collision avoidance, there is a clear need for obtaining a coarse depth map of the environment in a reasonable amount of time. Traditionally, stereo vision techniques have been used for depth map recovery. Such methods require that features are first found and then correctly corresponded between two images. However, in real images, stereo vision techniques not only are computationally time consuming but also suffer from errors in feature detection and correspondence. This paper describes the theory and implementation issues of depth map recovery from a sequence of two monocular images without prior knowledge of the involved motion. Our technique does not use either optical flow or feature correspondence. Instead, the spatio-temporal gradients of the input intensity images are used directly. The experimental results of implementing this method on real images are presented. Furthermore, important implementation issues such as detecting and correcting depth map flaws are discussed and techniques for overcoming such practical problems are described and tested. We also investigate the influence of subsampling on the quality of the recovered depth maps and introduce some more sophisticated techniques.

Paper Details

Date Published: 13 October 1994
PDF: 12 pages
Proc. SPIE 2354, Intelligent Robots and Computer Vision XIII: 3D Vision, Product Inspection, and Active Vision, (13 October 1994); doi: 10.1117/12.189104
Show Author Affiliations
M. Ali Taalebinezhaad, Univ. Laval (Canada)
Denis Poussart, Univ. Laval (Canada)

Published in SPIE Proceedings Vol. 2354:
Intelligent Robots and Computer Vision XIII: 3D Vision, Product Inspection, and Active Vision
David P. Casasent, Editor(s)

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