Recovery of superquadric primitive from stereo images

摘要

This paper presents an integrated approach to recovering the superquadric primitive from stereo images. While the depth data obtained from stereo matching algorithms are always sparse and noisy, to extract an object from the scene and obtain a smoothed depth map of the object, occluding contour detection and surface reconstruction are incorporated into the recovery process of superquadrics. The algorithm combines the recovery processes of occluding contour, surface and volumetric models in a cooperative and synergetic manner. The performance of the algorithm is demonstrated with two examples using real images.