A Method for the 3D Reconstruction Based on Edge Detection and Feature Extraction

  • Liangcheng SuEmail author
  • Fei Jia
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8971)


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.


3D 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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Copyright information

© Springer-Verlag Berlin Heidelberg 2015

Authors and Affiliations

  1. 1.Institute of Electrical EngineeringYanshan UniversityQinhuangdaoPeople’s Republic of China

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