Active multibaseline stereo with video rate (30 Hz) intensity image acquisition

The active multibaseline stereo project is undertaken with Jon Webb, Thomas Warfel, Larry Zitnick, and Takeo Kanade.

Example of set of stereo images

These images have been taken with a 4-camera system in a convergent configuration. Active lighting in the form of projected sine patterns is used to increase local discriminability in the scene images. This improves pixel matching for depth recovery.

Original unrectified set of images

Rectified pairs of images

Images are pairwise rectified to limit the search to parallel scan lines during matching.

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Recovered depth map

For details, see:

S.B. Kang, J.A. Webb, C.L. Zitnick, and T. Kanade, ``A multibaseline stereo system with active illumination and real-time image acquisition,'' Int'l Conf. on Computer Vision, Cambridge, MA, June 1995.
S.B. Kang, J.A. Webb, C.L. Zitnick, and T. Kanade, "An active multibaseline stereo system with real-time acquisition," Proc. Image Understanding Workshop, Monterey, CA, Nov. 1994. Abstract

or:

S.B. Kang, J.A. Webb, C.L. Zitnick, and T. Kanade, An active multibaseline stereo system with real-time image acquisition, Tech. Rep. CMU-CS-167, 1994. Abstract ; HTML ( Lots of images!)

sbk@cs.cmu.edu