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AssigneeTelecom Italia S.p.A.
InventorsGianluca Francini, Skjalg Lepsoy, Giovanni Presti
Estimating the term…
In a system for stereo vision including two cameras shooting the same scene, a method is performed for determining scattered disparity fields when the epipolar geometry is known, which includes the steps of: capturing, through the two cameras, first and second images of the scene from two different positions; selecting at least one pixel in the first image, the pixel being associated with a point of the scene and the second image containing a point also associated with the above point of the scene; and computing the displacement from the pixel to the point in the second image minimizing a cost function, such cost function including a term which depends on the difference between the first and the second image and a term which depends on the distance of the above point in the second image from a epipolar straight line, and a following check whether it belongs to an allowability area around a subset to the epipolar straight line in which the presence of the point is allowed, in order to take into account errors or uncertainties in calibrating the cameras.
A method for determining scattered disparity fields in stereo vision, comprising the steps of:
A system for stereo vision, comprising a first and a second shooting cameras adapted to shoot a same scene and a processing unit adapted to receive from said first and second cameras respective simultaneous images of said scene, said processing unit capable of being configured for:
Dependencies are inferred from the claim text.