Projective Alignment of Range and Parallax Data

Miles Hansard; Radu Horaud; Michel Amat; Seungkyu Lee

inria-00590277, version 1

Projective Alignment of Range and Parallax Data

Miles Hansard ()^a^, 1, 2, Radu Horaud ()^a^, 1, 2, Michel Amat ()^a^, 1, 2, Seungkyu Lee^b^, 3

CVPR'11 - IEEE Conference on Computer Vision and Pattern Recognition (2011) 3089-3096

Abstract: An approximately Euclidean representation of the visible scene can be obtained directly from a range, or 'time-of-flight', camera. An uncalibrated binocular system, in contrast, gives only a projective reconstruction of the scene. This paper analyzes the geometric mapping between the two representations, without requiring an intermediate calibration of the binocular system. The mapping can be found by either of two new methods, one of which requires point-correspondences between the range and colour cameras, and one of which does not. It is shown that these methods can be used to reproject the range data into the binocular images, which makes it possible to associate high-resolution colour and texture with each point in the Euclidean representation.

a – INRIA
b – Samsung
1: PERCEPTION (INRIA Grenoble Rhône-Alpes / LJK Laboratoire Jean Kuntzmann)
INRIA – Laboratoire Jean Kuntzmann – CNRS : UMR5224 – Université Joseph Fourier - Grenoble I – Institut National Polytechnique de Grenoble (INPG) – Université Pierre-Mendès-France - Grenoble II
2: Laboratoire Jean Kuntzmann (LJK)
CNRS : UMR5224 – Université Joseph Fourier - Grenoble I – Université Pierre-Mendès-France - Grenoble II – Institut Polytechnique de Grenoble - Grenoble Institute of Technology
3: Samsung Advanced Institute of Technology (SAIT)
Samsung

inria-00590277, version 1
http://hal.inria.fr/inria-00590277
oai:hal.inria.fr:inria-00590277
From: Team Perception <>
Submitted for: Laure BENAC <>
Submitted on: Wednesday, 15 June 2011 14:54:46
Updated on: Tuesday, 30 October 2012 18:47:20

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DOI: 10.1109/CVPR.2011.5995533

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