Multimodal Stereo Vision System: 3D Data Extraction and Algorithm Evaluation

被引:40
作者
Barrera Campo, Fernando [1 ]
Lumbreras Ruiz, Felipe [1 ,2 ]
Domingo Sappa, Angel [1 ]
机构
[1] Comp Vis Ctr, Barcelona 08193, Spain
[2] Univ Autonoma Barcelona, Dept Comp Sci, Barcelona 08290, Spain
关键词
Color and infrared images; multimodal stereo rig; sparse 3D maps; MUTUAL INFORMATION; COLOR; REGISTRATION; FUSION; VIDEO;
D O I
10.1109/JSTSP.2012.2204036
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
This paper proposes an imaging system for computing sparse depth maps from multispectral images. A special stereo head consisting of an infrared and a color camera defines the proposed multimodal acquisition system. The cameras are rigidly attached so that their image planes are parallel. Details about the calibration and image rectification procedure are provided. Sparse disparity maps are obtained by the combined use of mutual information enriched with gradient information. The proposed approach is evaluated using a Receiver Operating Characteristics curve. Furthermore, a multispectral dataset, color and infrared images, together with their corresponding ground truth disparity maps, is generated and used as a test bed. Experimental results in real outdoor scenarios are provided showing its viability and that the proposed approach is not restricted to a specific domain.
引用
收藏
页码:437 / 446
页数:10
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