Dense object modeling for 3-D map building using segment-based surface interpolation
- Masahiro Tomono
- Proceedings 2006 IEEE International Conference on…
We propose a new method to detect polyhedral object surfaces by using \occlusion information" from active binocular stereo. Occlusion information announces whether each feature point in the scene is visible or not from each viewpoint from which an image has been taken; this is a useful geometric cue to suppose the existence of object surfaces. It is very di cult for conventional stereo methods to obtain this information. Two complementary algorithms based on occlusion information decide whether or not there is a surface between each hypothetical 3-D segment called \arc" which corresponds two successive image feature points along an epipolar line. The nal surface description of the proposed method is a set of these arcs classi ed into three states: 1)there is a surface, 2)there is no surface, 3)it is unknown whether or not there is a surface. Our method can reliably detect polyhedral object surfaces that are visible and occlude other objects in the scene. Experimental results of the proposed method applied to the actual scene are also presented.