CASIA OpenIR  > 模式识别国家重点实验室  > 机器人视觉
王伟1; 高伟2,3; 朱海1; 胡占义2,3
Source Publication自动化学报
Other AbstractFor image-based urban scene reconstruction, traditional pixel-level or region-level methods often fail to achieve satisfactory results because of various negative factors such as illumination variations, perspective distortion, poorly textured regions, etc. To address this problem, a rapid and robust piecewise planar stereo method is proposed in this paper. Under the scene piecewise planar assumption and by taking into account the structural characteristics of urban scenes, the proposed method at first extracts sufficient and reliable candidate planes from initial spatial points based on the connected-region detection; then the problem of scene reconstruction is converted into a plane labeling problem under the Markov random field (MRF) framework. By virtue of the high reliability of our extracted candidate planes and the energy model properly designed by incorporating geometric constraints, spatial visibility and photo-consistency measures, a complete scene structure is effectively reconstructed. Experiment results show that the proposed method can satisfactorily handle the low-reliability and incomplete-reconstruction problems in traditional methods with computational efficiency.
Keyword能量最小化 平面拟合 三维重建 深度图
Indexed ByEI
Document Type期刊论文
Corresponding Author高伟
Corresponding Author Affilication中国科学院自动化研究所
Recommended Citation
GB/T 7714
王伟,高伟,朱海,等. 快速鲁棒的城市场景分段平面重建[J]. 自动化学报,2017,43(4):674-684.
APA 王伟,高伟,朱海,&胡占义.(2017).快速鲁棒的城市场景分段平面重建.自动化学报,43(4),674-684.
MLA 王伟,et al."快速鲁棒的城市场景分段平面重建".自动化学报 43.4(2017):674-684.
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