WO2000027131A3 - Improved methods and apparatus for 3-d imaging - Google Patents

Improved methods and apparatus for 3-d imaging Download PDF

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Publication number
WO2000027131A3
WO2000027131A3 PCT/GB1999/003584 GB9903584W WO0027131A3 WO 2000027131 A3 WO2000027131 A3 WO 2000027131A3 GB 9903584 W GB9903584 W GB 9903584W WO 0027131 A3 WO0027131 A3 WO 0027131A3
Authority
WO
WIPO (PCT)
Prior art keywords
level
disparity map
pyramid
images
calculating
Prior art date
Application number
PCT/GB1999/003584
Other languages
French (fr)
Other versions
WO2000027131A2 (en
Inventor
Joseph Zhengping Jin
Timothy Bryan Niblett
Colin William Urquhart
Original Assignee
Univ Glasgow
Joseph Zhengping Jin
Timothy Bryan Niblett
Colin William Urquhart
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Univ Glasgow, Joseph Zhengping Jin, Timothy Bryan Niblett, Colin William Urquhart filed Critical Univ Glasgow
Priority to AU10543/00A priority Critical patent/AU1054300A/en
Priority to EP99954099A priority patent/EP1125249A2/en
Publication of WO2000027131A2 publication Critical patent/WO2000027131A2/en
Publication of WO2000027131A3 publication Critical patent/WO2000027131A3/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G06T7/85—Stereo camera calibration
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106—Processing image signals
    • H04N13/111—Transformation of image signals corresponding to virtual viewpoints, e.g. spatial image interpolation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/246—Calibration of cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/25—Image signal generators using stereoscopic image cameras using two or more image sensors with different characteristics other than in their location or field of view, e.g. having different resolutions or colour pickup characteristics; using image signals from one sensor to control the characteristics of another sensor
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/257—Colour aspects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/296—Synchronisation thereof; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/30—Image reproducers
    • H04N13/388—Volumetric displays, i.e. systems where the image is built up from picture elements distributed through a volume
    • H04N13/393—Volumetric displays, i.e. systems where the image is built up from picture elements distributed through a volume the volume being generated by a moving, e.g. vibrating or rotating, surface
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20016—Hierarchical, coarse-to-fine, multiscale or multiresolution image processing; Pyramid transform
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/189—Recording image signals; Reproducing recorded image signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074—Stereoscopic image analysis
    • H04N2013/0081—Depth or disparity estimation from stereoscopic image signals

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

A method and apparatus for measuring stereo image disparity, for use in a 3-D modelling system. The method includes processing left and right camera images to form an image pyramid, calculating a disparity map at the coarsest level in the pyramid, and using this disparity map to carry out a warping operation on one of the images at the next-coarsest level, prior to calculating a disparity map for that level. This process is repeated for each subsequent pyramid level, at each level using the disparity map obtained at the previous level for carrying out the warping process, until a final disparity map for the least coarse pair of images in the pyramid is obtained. A computer program product for implementing this method is claimed, as well as a new method and apparatus for calibrating the cameras.
PCT/GB1999/003584 1998-10-30 1999-10-29 Improved methods and apparatus for 3-d imaging WO2000027131A2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AU10543/00A AU1054300A (en) 1998-10-30 1999-10-29 Improved methods and apparatus for 3-d imaging
EP99954099A EP1125249A2 (en) 1998-10-30 1999-10-29 Improved methods and apparatus for 3-d imaging

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GBGB9823689.6A GB9823689D0 (en) 1998-10-30 1998-10-30 Improved methods and apparatus for 3-D imaging
GB9823689.6 1998-10-30

Publications (2)

Publication Number Publication Date
WO2000027131A2 WO2000027131A2 (en) 2000-05-11
WO2000027131A3 true WO2000027131A3 (en) 2000-10-12

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1999/003584 WO2000027131A2 (en) 1998-10-30 1999-10-29 Improved methods and apparatus for 3-d imaging

Country Status (4)

Country Link
EP (1) EP1125249A2 (en)
AU (1) AU1054300A (en)
GB (1) GB9823689D0 (en)
WO (1) WO2000027131A2 (en)

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Also Published As

Publication number Publication date
WO2000027131A2 (en) 2000-05-11
EP1125249A2 (en) 2001-08-22
GB9823689D0 (en) 1998-12-23
AU1054300A (en) 2000-05-22

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