High-Speed Extraction of 3D Structure of Selectable Quality Using a Translating Camera

摘要

In this paper we present a computational approach for extracting three-dimensional structure of controllable resolution, depth of field, and accuracy, all made available at real-time speeds. This approach utilizes the spatial and the temporal gradients of the streams of images acquired using an actively controlled camera. Depending on the requirements of a particular task, appropriate parameters such as disparity value sought, interframe camera displacement, and number of frames in a stream are chosen to control the resolution, depth of field, and accuracy. The acquisition and processing of the image stream are done in real time on a pipeline architecture based processor. Extensive experiments are presented to demonstrate the system's accuracy, controllability of depth of field and resolution, and ability to perform successfully in a variety of scenes. The system operated with no latency between image acquisition and processing. The total acquisition and processing time in these experiments is in the range from 0.27 to 1.56 s. The depth results have an accuracy of 85% to 92%.