Fusion of stereo and motion vision for 3-D reconstruction

摘要

Describes a robotic vision system based on the fusion of stereo and motion vision for 3-D reconstruction. Its performance under occlusions is improved by considering the image matching noise dynamics in the motion module. The stereo module is based on the maximum a posteriori estimate of depth given the measured stereo disparity. Simulations with noisy synthetic images showed that the system is capable of 3-D reconstruction and of resolving occluding from occluded objects with potential for real-time operation.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>