Range data from stereo images of edge points

Hong-Seh Lim

doi:10.1117/12.25236

1 February 1991 Range data from stereo images of edge points

Hong-Seh Lim

Proceedings Volume 1382, Intelligent Robots and Computer Vision IX: Neural, Biological, and 3D Methods; (1991) https://doi.org/10.1117/12.25236
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

This paper presents an algorithm and implementation for recovering range data from stereo images of edge points. The recovered data are used for object identification and localization. Parallel laser light planes are projected on a polyhedral object. The light planes appear as a set of broken straight segments in images. Discontinuities along these straight segments correspond to normal discontinuities on the underlying surfaces. Points of discontinuities in the images are extracted as edge points and they lie on edges of the underlying object. Matching edge points between stereo images gives range data. The matching algorithm uses the epipolar constraint a relational constraiit and an ordering constraint. The range data can he arranged in order according to the light planes to which they belong. Experimental results of the matching process and the accuracy of recovered data are presented. 1

Citation Download Citation

Hong-Seh Lim "Range data from stereo images of edge points", Proc. SPIE 1382, Intelligent Robots and Computer Vision IX: Neural, Biological, and 3D Methods, (1 February 1991); https://doi.org/10.1117/12.25236

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