Recovering partial 3D wire frames descriptions from stereo data

摘要

The design of modules in the current version of the TINA stereo based 3D vision system responsible for the recovery of geometric descriptions and their subsequent integration into partial wire frame models are described. The approach differs considerably from that described in an earlier version of the TINA system1,2. The strategy for the construction of partial wire frame descriptions is broken into the following three processing stages: 1.1 Stereo processing: this is edged-based, and uses camera calibration information to provide a restriction on allowable matches between edges extracted from the left and right images. The algorithm does not, however, at this stage recover an accurate estimate of disparity of each pair of matched edges.2.2 Geometrical description: this relies on the identification of higher level 2D primitives from the edge strings in one, other or both images and their subsequent combination with stereo matching, and calibration data to allow the recovery of 3D primitives.3.3 Wire frame generation: based upon 2D and 3D proximity and connectivity heuristics potential wire frame components are identified.