Abstract

We are considering the problem of recovering the three-dimensional geometry of a scene from binocu-lor stereo disparity. Once a dense disparity map has been computed from a stereo pair of images, one of-ten needs to calculate some local diferential proper-ties of the cowesponding 3-0 surface such as orien-tation or curvatures. The wual approach is to build a 3-0 reconstruction of the surface(s) from which all shape properties will then be derived without ever go-ing back to the original images. In this paper, we de-part from this paradigm and propose to w e the images directly to compute the shape properties. We thus pro-pose a new method extending the classical cowelation method to estimate accurately both the disparity and its derivatives directly from the image data. We then relate those derivatives to diferential properties of the surface such as orientation and curvatures.

Citations