3D MODELLING OF OBJECTS FOR BETTER ROBOTIC VISION 3

2
CHAPTER

LITERATURE SURVEY
2.0.

LITERATURE SURVEY

Image processing is any form of signal processing for which the input is an image, such as a photograph or video frame; the output of image processing may be either an image or, a set of characteristics or parameters related to the image. Most image-processing techniques involve treating the image as a two-dimensional signal and applying standard signal-processing techniques to it. A digital image is composed of pixels which can be thought of as small dots on the screen. A digital image is an instruction of how to color each pixel. A typical size of an image is 512-by-512 pixels .Let us say that we have an image on the format 512-by-1024 pixels. One of the most important problems in stereo image processing is to locate corresponding points in the images, a process referred to as disparity estimation. Stereo imaging involves two separate image views of a single world point w. The objective is to find the corresponding pair I1 and I2 in the image pair. Dense disparity vectors are estimated hierarchically using a region-dividing technique. The region-dividing technique performs a bidirectional matching in the order of feature intensities to simultaneously increase the efficiency of the process and the reliability of the results. An energy-based joint motion disparity estimation algorithm from the calibrated stereoscopic image sequences while preserving image discontinuities. We can estimate dense motion and disparity in the same method and compute initial dense disparity of the next frame using the constraint between motion and disparity

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3D MODELLING OF OBJECTS FOR BETTER ROBOTIC VISION CHAPTER 2. LITERATURE SURVEY 4

in stereo image sequence. Using energy minimization approach, the field, which are motion and disparity, can be estimated in the same method and this method produces smooth field in object area while preserving its discontinuities of image boundaries. To preserve discontinuities and overcome a classic ill-posed problem, we can use the regularization term proposed by Nagel-Enkelmann. Dense disparity vectors are estimated from low to high resolution fields using a region-dividing technique and shape-adaptive matching windows. Then, the vector fields are regularized with the minimization of the energy functional which considers both fidelity and smoothness of the fields

Fig. 2.0: Disparity estimation proposed by Hansung Kim and Kwanghoon Sohn

The estimated dense disparity fields can be converted into depth information by camera geometry. As a result, the 3D model of the real scene is reconstructed from the original images and disparity information. Then reconstructed the 3D location of the pixels in a real scene using certain equations. The existing algorithms require number of steps which requires much time to process. From all the algorithms it is clear that basic step for getting depth information is disparity estimation. Disparity estimation can be done pixel wise also which will require less processing

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3D MODELLING OF OBJECTS FOR BETTER ROBOTIC VISION CHAPTER 2. LITERATURE SURVEY 5

REFERENCES
1. Hansung Kim, Yoonsik Choe and Kwanghoon Sohn, "Disparity estimation using a region-dividing technique and energy-based regularization" Yonsei University Department of Electrical and Electronic Engineering 134 Shinchon-dong, Seodaemun-gu Seoul, 120-749, Korea.

COLLEGE OF ENGINEERING, THALASSERY