NDLI: Epipolar based structured light pattern design for 3-D reconstruction of moving surfaces

Content Provider	IEEE Xplore Digital Library
Author	Maurice, X. Graebling, P. Doignon, C.
Copyright Year	2011
Description	Author affiliation: Laboratoire des Sciences de l'Image, de l'Informatique et de la Télédétection (LSIIT, UMR CNRS/UDS 7005), Equipe de Recherche en Automatique, Vision et Robotique, University of Strasbourg, France (Maurice, X.; Graebling, P.; Doignon, C.)
Abstract	In this paper, we address a robust matching technique based on coded structured lighting (SL) to achieve real-time 3-D reconstructions. To that purpose, most existing approaches involve color or grey levels coding but they are well-known to be sensitive to spectral properties and texture of the viewed surfaces. Therefore, the overall robustness of the proposed technique comes first from the geometrical features used in conjunction with the SL neighbourhood scheme to carry out pattern coding. Second, a desired minimum Hamming distance between features' codewords drives the pattern design. This is suited for autonomous navigation in unknown environments as this parameter enables codewords correction capabilities during the decoding stage in real-time. Furthermore, we take advantage of the known epipolar geometry by including projective invariants between corresponding epipolar lines directly in the pattern components. Thus, the final pattern displays relocated and reoriented (cuneiform) features along the epipolar lines. This grouping also contributes to reduce the search space more and results in a significantly less constrained coding. Finally, we show how this coding and this non-grid based pattern offer efficient and fast correction of mislabeled features due to blurring, spectral harmful effects and surfaces discontinuities prior to the 3-D reconstruction of real scenes.
Starting Page	5301
Ending Page	5308
File Size	2039322
Page Count	8
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979582
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Encoding Shape Geometry Hamming distance Three dimensional displays Robustness Cameras
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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