Fusion approach to stereo vision uncertainty

Debjani Mitra; Gora Chand Nandi

doi:10.1117/12.458378

6 March 2002 Fusion approach to stereo vision uncertainty

Debjani Mitra, Gora Chand Nandi

Proceedings Volume 4731, Sensor Fusion: Architectures, Algorithms, and Applications VI; (2002) https://doi.org/10.1117/12.458378
Event: AeroSense 2002, 2002, Orlando, FL, United States

Abstract

This paper has briefly identified some application areas that require very reliable and precise estimates of real- time depth information using visual sensors. Amongst them stereoscopy is quite popularly employed in extracting 3-D structure information about imaged objects. In such applications, it was strongly felt the need to evaluate the uncertainty that remains in the stereoscopicinformation. This will be significant for fusing the information with other sensor modalities in multi-sensor systems and also for minimizing the uncertainty to any pre-assigned value, if required. These two approaches have been realized in this paper. In the first approach, partial stereo information obtained from a single camera has been considered for fusion using a generalized camera model and the uncertainty ellipsoid of the same information has been derived. In the second approach a multiple-camera (or multiple-baseline) stereo system has been considered where the correctness and precision of multi-baseline stereo matching has been improved by the application of fusion concepts. The improvement of the trade-off between precision and ambiguity through fusion of depth estimates has been illustrated using a particular intensity function for the images. By using fusion a fewer number of images are required in order to obtain the same level of precision.

Citation Download Citation

Debjani Mitra and Gora Chand Nandi "Fusion approach to stereo vision uncertainty", Proc. SPIE 4731, Sensor Fusion: Architectures, Algorithms, and Applications VI, (6 March 2002); https://doi.org/10.1117/12.458378

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