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Proceedings Paper

Dense point-cloud creation using superresolution for a monocular 3D reconstruction system
Author(s): Yakov Diskin; Vijayan K. Asari
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Paper Abstract

We present an enhanced 3D reconstruction algorithm designed to support an autonomously navigated unmanned aerial system (UAS). The algorithm presented focuses on the 3D reconstruction of a scene using only a single moving camera. In this way, the system can be used to construct a point cloud model of its unknown surroundings. The original reconstruction process, resulting with a point cloud was computed based on feature matching and depth triangulation analysis. Although dense, this original model was hindered due to its low disparity resolution. As feature points were matched from frame to frame, the resolution of the input images and the discrete nature of disparities limited the depth computations within a scene. With the recent addition of the preprocessing steps of nonlinear super resolution, the accuracy of the point cloud which relies on precise disparity measurement has significantly increased. Using a pixel by pixel approach, the super resolution technique computes the phase congruency of each pixel's neighborhood and produces nonlinearly interpolated high resolution input frames. Thus, a feature point travels a more precise discrete disparity. Also, the quantity of points within the 3D point cloud model is significantly increased since the number of features is directly proportional to the resolution and high frequencies of the input image. The contribution of the newly added preprocessing steps is measured by evaluating the density and accuracy of the reconstructed point cloud for autonomous navigation and mapping tasks within unknown environments.

Paper Details

Date Published: 7 May 2012
PDF: 9 pages
Proc. SPIE 8399, Visual Information Processing XXI, 83990N (7 May 2012); doi: 10.1117/12.919620
Show Author Affiliations
Yakov Diskin, Univ. of Dayton (United States)
Vijayan K. Asari, Univ. of Dayton (United States)

Published in SPIE Proceedings Vol. 8399:
Visual Information Processing XXI
Mark Allen Neifeld; Amit Ashok, Editor(s)

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