A Probabilistic Approach to ToF and Stereo Data Fusion
A Probabilistic Approach to ToF and Stereo Data Fusion
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发表时间：
2010
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通讯作者：
P. Zanuttigh;G. Cortelazzo
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作者：
P. Zanuttigh;G. Cortelazzo
当前的3D视频应用需要高质量深度信息的可用性。深度信息可以通过立体视觉系统和ToF相机实时获取。这两种解决方案都存在关键问题，可以通过组合使用来克服这些问题。在本文中，异构采集系统被认为是由两个高分辨率的标准相机（立体对）和一个ToF相机。立体声系统和ToF相机必须一起正确校准，以便联合操作。因此，这项工作首先介绍了一种广义的多相机校准技术，它不仅利用亮度（颜色）信息，而且还利用ToF相机提取的深度信息。然后推导出一种概率自组织融合算法，以便从ToF相机和立体对的信息中获得高质量的深度信息。实验结果表明，所提出的校准算法导致一个非常准确的校准适合融合算法，这反过来，允许精确提取的深度信息。
Current 3D video applications require the availability of high quality depth information. Depth information can be acquired real-time by stereo vision systems and ToF cameras. Both solutions present critical issues, that can be overcome by their combined use. In this paper, a heterogeneous acquisition system is considered, made of two high resolution standard cameras (stereo pair) and one ToF camera. The stereo system and the ToF camera must be properly calibrated together in order to operate jointly. Therefore this work introduces first a generalized multi-camera calibration technique which does not exploit only the luminance (color) information, but also the depth information extracted by the ToF camera. A probabilistic ad hoc fusion algorithm is then derived in order to obtain high quality depth information from the information of both the ToF camera and the stereo-pair. Experimental results show that the proposed calibration algorithm leads to a very accurate calibration suitable for the fusion algorithm, that, in turn, allows for precise extraction of the depth information.