Direct Reconstruction of Planar Surfaces by Stereo Vision

Yasushi KANAZAWA  Kenichi KANATANI  

IEICE TRANSACTIONS on Information and Systems   Vol.E78-D   No.7   pp.917-922
Publication Date: 1995/07/25
Online ISSN: 
Print ISSN: 0916-8532
Type of Manuscript: PAPER
Category: Image Processing, Computer Graphics and Pattern Recognition
reliability of 3-D reconstruction,  stereo vision,  plane fitting,  statistical optimization,  noise estimation,  

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This paper studies the problem of reconstructing a planar surface from stereo images of multiple feature points that are known to be coplanar in the scene. We present a direct method by applying maximum likelihood estimation based on a statistical model of image noise. The significant fact about our method is that not only the 3-D position of the surface is reconstructed accurately but its reliability is also computed quantitatively. The effectiveness of our method is demonstrated by doing numerical simulation.