Development of a Near Real-Time Stereo Vision System
Date Issued
2006
Date
2006
Author(s)
Chang, Ching-Fu
DOI
en-US
Abstract
In this thesis, a binocular stereo vision system is constructed for depth estimation and 3D image reconstruction. We propose a new method called “color weighted correspondence algorithm” to solve correspondence problems. Geometric constraints are added to reduce the ambiguities in stereo matching. Left-right consistency check is used to increase the confidence for matching results. Post-processing helps remove the outliers and make original dense disparity map smooth and reliable. The three-dimensional characteristics can be reconstructed by stereo triangulation.
Projected median is used to rectify cameras before performing the stereo matching in case mismatches happen. It performs well as the cameras are set up in approximately correct position. The YCC color model is adopted to simulate human vision system to deal with textureless regions. It is then applied to the “color weighted correspondence algorithm” to determine the correspondence. It validates the feasibility of humanoid color perception with stereo matching methodology to estimate depth and reconstruct 3D scene.
Subjects
立體視覺
stereo vision
Type
thesis
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