Knowledge source for describing stereoscopically viewed textured surfaces

摘要

An algorithm is described for detecting and localizing depth discontinuities in sparse stereo depth data obtained from textured regions of images. The discontinuities are detected by fitting a membrane over the sparse depth data and running an edge detector over the reconstructed surface. Multigrid techniques are used in the surface reconstruction. The discontinuities are used to aid segmentation of the textured region into closed subregions. A geometric description of each subregion can be obtained by fitting planes, spheres, etc., to the stereo depth data. Results are given for discontinuity detection and geometric description (planes only) on both simulated and real images.