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Int J Comput Vis (2013) 104:94116 DOI 10.1007/s11263-013-0616-1
3D Scene Reconstruction from Multiple Spherical Stereo Pairs
Hansung Kim Adrian Hilton
Received: 3 March 2011 / Accepted: 28 January 2013 / Published online: 3 March 2013 Springer Science+Business Media New York 2013
Abstract We propose a 3D environment modelling method using multiple pairs of high-resolution spherical images. Spherical images of a scene are captured using a rotating line scan camera. Reconstruction is based on stereo image pairs with a vertical displacement between camera views. A 3D mesh model for each pair of spherical images is reconstructed by stereo matching. For accurate surface reconstruction, we propose a PDE-based disparity estimation method which produces continuous depth elds with sharp depth discontinuities even in occluded and highly textured regions. A full environment model is constructed by fusion of partial reconstruction from spherical stereo pairs at multiple widely spaced locations. To avoid camera calibration steps for all camera locations, we calculate 3D rigid transforms between capture points using feature matching and register all meshes into a unied coordinate system. Finally a complete 3D model of the environment is generated by selecting the most reliable observations among overlapped surface measurements considering surface visibility, orientation and distance from the camera. We analyse the characteristics and behaviour of errors for spherical stereo imaging. Performance of the proposed algorithm is evaluated against ground-truth from the Middlebury stereo test bed and LIDAR scans. Results are also compared with conventional structure-from-motion
Electronic supplementary material The online version of this article (doi:http://dx.doi.org/10.1007/s11263-013-0616-1
Web End =10.1007/s11263-013-0616-1 ) contains supplementary material, which is available to authorized users.
H. Kim (B) A. Hilton
Centre for Vision, Speech and Signal Processing, University of Surrey, Guildford, Surrey GU2 7XH, UKe-mail: [email protected]
A. Hiltone-mail: [email protected]
algorithms. The nal composite model is rendered from a wide range of viewpoints with high quality textures.
Keywords 3D reconstruction Environment modelling
Disparity estimation 3D registration and mesh integration
1 Introduction
Scene reconstruction has been an important research topic in computer and robot vision over the past decade (Akbarzadeh et al. 2006; Desouza and Kak 2002). The problem of generating visually realistic graphical models of scenes from cameras has been addressed through computer vision techniques. However, there are several problems in environment modelling which are different from the...