A Method for the 3D Reconstruction Based on Edge Detection and Feature Extraction
This paper presents a method for three-dimensional reconstruction from images that can be used to identify obstacles based on a single omnidirectional image obtained by an omnidirectional stereo vision optical device (OSVOD). The OSVOD is a novel catadioptric system based on a common perspective camera coupled with two hyperbolic mirrors. The images captured by OSVOD are unwrapped into cylinder panoramic images, which are then examined for stereo matching along vertical epiploar lines. Given two images of a space point obtained by this vision system, the 3D coordinates of the point can be calculated by using triangulation. An algorithm of the quick stereo matching method based on Canny edge and SIFT feature points is proposed and the result of 3D reconstruction and depth map are obtained. From the results, we can find that the 3D reconstruction accuracy can be accepted for mobile robots’ obstacle detection and navigation tasks.
Keywords3D reconstruction Canny SIFT Stereo matching Catadioptric system
This work was supported by the National Natural Science Foundation of China (No. 60905046).
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