Study of Temporal Modified-RANSAC based method for the extraction and 3D shape reconstruction of moving objects from dynamic stereo images and for estimating the camera pose

Naotomo Tatematsu*, Jun Ohya

*この研究の対応する著者

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

This paper proposes a Temporal Modified-RANSAC based method that can discriminate each moving object from the still background in the stereo video sequences acquired by moving stereo cameras, can compute the stereo cameras' egomotion, and can reconstruct the 3D structure of each moving object and the background. We compute 3D optical flows from the depth map and results of tracking feature points. We define "3D flow region" as a set of connected pixels whose 3D optical flows have a common rotation matrix and translation vector. Our Temporal Modified-RANSAC segments the detected 3D optical flows into 3D flow regions and computes the rotation matrix and translation vector for each 3D flow region. As opposed to the conventional Modified-RANSAC for only two frames, The Temporal Modified-RANSAC can handle temporal images with arbitrary length by performing the Modified-RANSAC to the set of a 3D flow region that classified in the latest frame and new 3D optical flows detected in the current frame iteratively. Finally, the 3D points computed from the depth map in all the frames are registered using each 3D flow region's matrix to the initial positions in the initial frame so that the 3D structures of the moving objects and still background are reconstructed. Experiments using multiple moving objects and real stereo sequences demonstrate promising results of our proposed method.

本文言語English
ホスト出版物のタイトルProceedings of SPIE-IS and T Electronic Imaging - Intelligent Robots and Computer Vision XXVIII
ホスト出版物のサブタイトルAlgorithms and Techniques
DOI
出版ステータスPublished - 2011 2 28
イベントIntelligent Robots and Computer Vision XXVIII: Algorithms and Techniques - San Francisco, CA, United States
継続期間: 2011 1 242011 1 25

出版物シリーズ

名前Proceedings of SPIE - The International Society for Optical Engineering
7878
ISSN(印刷版)0277-786X

Conference

ConferenceIntelligent Robots and Computer Vision XXVIII: Algorithms and Techniques
国/地域United States
CitySan Francisco, CA
Period11/1/2411/1/25

ASJC Scopus subject areas

  • 電子材料、光学材料、および磁性材料
  • 凝縮系物理学
  • コンピュータ サイエンスの応用
  • 応用数学
  • 電子工学および電気工学

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