Abstract
We propose a reliable method to detect occluding contours and occlusion by active binocular stereo with an occluding contour model that describes the correspondence between the contour of curved objects and its projected image. Applying the image flow generated by moving one camera to the model, we can restrict possible matched points seen by the other camera. We detect occluding contours by fitting these matched points to the model. This method can find occluding contours and occlusion more reliably than conventional ones because stereo matching is performed by using the geometric constraint based on the occluding contour model instead of heuristic constraints. Experimental results of the proposed method applied to the actual scene are presented.
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© 1994 Springer-Verlag London Limited
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Nishikawa, A., Maru, N., Miyazaki, F. (1994). Detection of occluding contours and occlusion by active binocular stereo. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027600
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DOI: https://doi.org/10.1007/BFb0027600
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