Multimodal Stereo Vision System: 3D Data Extraction and Algorithm Evaluation

This paper proposes an imaging system for computing sparse depth maps from multispectral images. A special stereo head consisting of an infrared and a color camera defines the proposed multimodal acquisition system. The cameras are rigidly attached so that their image planes are parallel. Details ab...

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Bibliographic Details
Published in:IEEE journal of selected topics in signal processing 2012-09, Vol.6 (5), p.437-446
Main Authors: Barrera Campo, Fernando, Lumbreras Ruiz, Felipe, Sappa, Angel Domingo
Format: Article
Language:English
Subjects:
Calibration
Cameras
Color and infrared images
Head
Image color analysis
multimodal stereo rig
Mutual information
sparse 3D maps
Stereo vision
Three dimensional displays
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Summary:This paper proposes an imaging system for computing sparse depth maps from multispectral images. A special stereo head consisting of an infrared and a color camera defines the proposed multimodal acquisition system. The cameras are rigidly attached so that their image planes are parallel. Details about the calibration and image rectification procedure are provided. Sparse disparity maps are obtained by the combined use of mutual information enriched with gradient information. The proposed approach is evaluated using a Receiver Operating Characteristics curve. Furthermore, a multispectral dataset, color and infrared images, together with their corresponding ground truth disparity maps, is generated and used as a test bed. Experimental results in real outdoor scenarios are provided showing its viability and that the proposed approach is not restricted to a specific domain.
ISSN:1932-4553
1941-0484
DOI:10.1109/JSTSP.2012.2204036