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A Unifying Framework for Depth from Triangulation PowerPoint PPT Presentation

A Unifying Framework for Depth from Triangulation

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A Unifying Framework for Depth from Triangulation

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Slide1 l.jpg

pixelintensityat xi

I1

xi

time

Optical

I2

time

time

I2

I1

Passive

I2

I1

I1

I2

Stereo

Active

Spatial domain occlusion

Temporal domain occlusion

Shape from shading

Structured light

Laser

scanning

xi

Time

Camera I1

Projector P2

Projectedlaser

Spatialmatching vector

Camera

Spatial domain laser scanning

Spatial Stereo

Temporal Stereo

Spatial Stereo

Temporal Stereo

Temporal domain laser scanning

Spacetime Stereo: A Unifying Framework for Depth from Triangulation

James Davis Ravi Ramamoorthi Szymon Rusinkiewicz

Honda Research InstituteColumbia University Princeton University

Old Taxonomy

Classifying systems as passive or active has lead to a separation in the literature of triangulation methods which are closely related.

Traditional Spatial Stereo

Traditional stereo searches for correspondence using a spatial matching window. This window reduces ambiguity when spatial texture is present.

Moving Objects

Moving objects cause errors in temporal matching that are analogous to errors caused by object discontinuities in spatial matching.

Structured Light

Structured light methods project a sequence of coded patterns onto objects to determine depth. Treating these patterns as temporal texture rather than as known codes, allows multiple structured light systems to be used together.

Temporal Stereo

A temporal matching window can be used to establish correspondence when unstructured light variation or other temporal texture is present.

New Taxonomy

Unifying triangulation methods within the spacetime framework allows new hybrid algorithms to be easily identified.

Example Temporal Patterns

The temporal texture at an individual pixel will depend on the nature of the lighting variation. Flashlights, shadows and lasers all produce unique texture.

Laser Scanning

Laser scanners use a single stripe of light to disambiguate correspondence. Treating this light as texture rather than as a Gaussian feature can relax calibration requirements and prevent interreflections from causing ambiguity.

Improved Algorithm

Temporal stereo is a new hybrid algorithm which allows improved reconstruction of static scenes with unstructured variable lighting.

Spacetime Stereo

The matching window should not necessarily lie entirely within the spatial or temporal domains. A spatial-temporal matching window may be desirable.


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