Abstract
A stereo vision system for recognition of 3D-objects is presented. The method uses a stereo camera pair and is able to detect objects located on a structured background constituting a repetitive 3D pattern, e.g. a staircase. Recognition is based on differencing stereo pair images, where a perspective warping transform is used to overlay the left onto the right image, or vice versa. The 3D camera positions are obtained during a learning phase where a 3D background model is employed. Correspondence between images and stereo disparity are derived based on the estimated pose of the background model. Disparity provides the necessary information for a perspective warping transform used in the recognition phase. The demonstrated application is staircase surveillance. Recognition itself is based on a pyramidal representation and segmentation of image intensity differences.
This work was carried out within the K plus Competence Center ADVANCED COMPUTER VISION and was funded from the K plus program. We thank Professor Walter Kropatsch (Pattern Recognition and Image Processing Group, Technical University of Vienna) for critical comments, which helped to improve the paper.
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Huber, R., Biber, J., Nowak, C., Spatzek, B. (2003). Recognition of Obstacles on Structured 3D Background. In: Crowley, J.L., Piater, J.H., Vincze, M., Paletta, L. (eds) Computer Vision Systems. ICVS 2003. Lecture Notes in Computer Science, vol 2626. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36592-3_11
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DOI: https://doi.org/10.1007/3-540-36592-3_11
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