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Stereo+Kinect for High Resolution Stereo Correspondences
| Citations: | 2 - 0 self |
BibTeX
@MISC{Somanath_stereo+kinectfor,
author = {Gowri Somanath and Scott Cohen and Brian Price and Chandra Kambhamettu},
title = {Stereo+Kinect for High Resolution Stereo Correspondences},
year = {}
}
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Abstract
In this work, we combine the complementary depth sensors Kinect and stereo image matching to obtain high quality correspondences. Our goal is to obtain a dense disparity map at the spatial and depth resolution of the stereo cameras (4-12 MP). We propose a global optimization scheme, where both the data and smoothness costs are derived using sensor confidences and low resolution geometry from Kinect. A spatially varying search range is used to limit the number of potential disparities at each pixel. The smoothness prior is based on available low resolution depth from Kinect rather than image gradients, thus performing better in both textured areas with smooth depth and textureless areas with depth gradient. We also propose a spatially varying smoothness weight to better handle occlusion areas, and the relative contribution of the two energy terms. We demonstrate how the two sensors can be effectively fused to obtain correct scene depth in ambiguous areas, as well as fine structural details in textured areas. 1.
Keyphrases
stereo kinect high resolution stereo correspondence textured area smoothness cost ambiguous area potential disparity image gradient energy term 4-12 mp stereo image high quality correspondence stereo camera relative contribution complementary depth sensor kinect depth resolution sensor confidence fine structural detail occlusion area smooth depth low resolution geometry available low resolution depth depth gradient global optimization scheme smoothness weight dense disparity map correct scene depth search range textureless area
