Dense Stereo Range Sensing with Marching Pseudo-Random Patterns

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Dense Stereo Range Sensing with Marching Pseudo-Random Patterns
As an extension to classical structured lighting techniques, the use of bi-dimensional pseudo-random color codes is explored to perform range sensing with variable density from a stereo calibrated rig and a projector. Pseudo-random codes are used to create artificial textures on a scene which are extracted and grouped in a confidence map to ensure reliable feature matching between pairs of images taken from two cameras. Depth estimation is performed on corresponding points with progressive refinement as the pseudo-random pattern projection is marched over the scene to increase the density of matched features, and achieve dense 3D reconstruction. The potential of bi-dimensional pseudo-random color patterns for structured lighting is demonstrated in terms of patterns computation, ease of extraction, matching confidence level, as well as density of depth estimation for 3D reconstruction.
Danick Desjardins, Pierre Payeur
Added 02 Jun 2010
Updated 02 Jun 2010
Type Conference
Year 2007
Where CRV
Authors Danick Desjardins, Pierre Payeur
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