REAL-TIME DEPTH MAP ESTIMATION FROM INFRARED STEREO IMAGES OF RGB-D CAMERAS

REAL-TIME DEPTH MAP ESTIMATION FROM INFRARED STEREO IMAGES OF RGB-D CAMERAS

RGB-D cameras are novel sensing systems that can rapidly provide accurate depth information for 3D perception, among which the type based on active stereo vision has been widely used. However, there are some problems exiting in use, such as the short measurement range and incomplete depth maps. This...

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Main Authors: J. Zhong, M. Li, X. Liao, J. Qin, H. Zhang, Q. Guo
Format: Article
Language:English
Published: Copernicus Publications 2021-06-01
Series:ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Online Access:https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/V-2-2021/107/2021/isprs-annals-V-2-2021-107-2021.pdf
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spelling doaj-1f37df4dc88740fbb8a61e30b1ae1d922021-06-17T20:25:11ZengCopernicus PublicationsISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences2194-90422194-90502021-06-01V-2-202110711210.5194/isprs-annals-V-2-2021-107-2021REAL-TIME DEPTH MAP ESTIMATION FROM INFRARED STEREO IMAGES OF RGB-D CAMERASJ. Zhong0M. Li1M. Li2X. Liao3J. Qin4H. Zhang5Q. Guo6State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing, Wuhan University, Wuhan 430079, ChinaState Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing, Wuhan University, Wuhan 430079, ChinaDepartment of Physics, ETH Zurich, Zurich 8093, SwitzerlandDepartment of Land Surveying and Geo-Informatics, The Hong Kong Polytechnic University, Hong Kong 999077, ChinaState Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing, Wuhan University, Wuhan 430079, ChinaState Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing, Wuhan University, Wuhan 430079, ChinaState Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing, Wuhan University, Wuhan 430079, ChinaRGB-D cameras are novel sensing systems that can rapidly provide accurate depth information for 3D perception, among which the type based on active stereo vision has been widely used. However, there are some problems exiting in use, such as the short measurement range and incomplete depth maps. This paper presents a robust and efficient matching algorithm based on semi-global matching to obtain more complete and accurate depth maps in real time. Considering characteristics of captured infrared speckle images, the Gaussian filter is performed firstly to restrain noise and enhance the relativity. It also adopts the idea of block matching for reliability, and a dynamic threshold selection of the block size is used to adapt to various situation. Moreover, several optimizations are applied to improve precision and reduce error. Through experiments on the Intel Realsense R200, the excellent capability of our proposed method is verified.https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/V-2-2021/107/2021/isprs-annals-V-2-2021-107-2021.pdf
collection DOAJ
language English
format Article
sources DOAJ
author J. Zhong
M. Li
M. Li
X. Liao
J. Qin
H. Zhang
Q. Guo
spellingShingle J. Zhong
M. Li
M. Li
X. Liao
J. Qin
H. Zhang
Q. Guo
REAL-TIME DEPTH MAP ESTIMATION FROM INFRARED STEREO IMAGES OF RGB-D CAMERAS
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
author_facet J. Zhong
M. Li
M. Li
X. Liao
J. Qin
H. Zhang
Q. Guo
author_sort J. Zhong
title REAL-TIME DEPTH MAP ESTIMATION FROM INFRARED STEREO IMAGES OF RGB-D CAMERAS
title_short REAL-TIME DEPTH MAP ESTIMATION FROM INFRARED STEREO IMAGES OF RGB-D CAMERAS
title_full REAL-TIME DEPTH MAP ESTIMATION FROM INFRARED STEREO IMAGES OF RGB-D CAMERAS
title_fullStr REAL-TIME DEPTH MAP ESTIMATION FROM INFRARED STEREO IMAGES OF RGB-D CAMERAS
title_full_unstemmed REAL-TIME DEPTH MAP ESTIMATION FROM INFRARED STEREO IMAGES OF RGB-D CAMERAS
title_sort real-time depth map estimation from infrared stereo images of rgb-d cameras
publisher Copernicus Publications
series ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
issn 2194-9042
2194-9050
publishDate 2021-06-01
description RGB-D cameras are novel sensing systems that can rapidly provide accurate depth information for 3D perception, among which the type based on active stereo vision has been widely used. However, there are some problems exiting in use, such as the short measurement range and incomplete depth maps. This paper presents a robust and efficient matching algorithm based on semi-global matching to obtain more complete and accurate depth maps in real time. Considering characteristics of captured infrared speckle images, the Gaussian filter is performed firstly to restrain noise and enhance the relativity. It also adopts the idea of block matching for reliability, and a dynamic threshold selection of the block size is used to adapt to various situation. Moreover, several optimizations are applied to improve precision and reduce error. Through experiments on the Intel Realsense R200, the excellent capability of our proposed method is verified.
url https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/V-2-2021/107/2021/isprs-annals-V-2-2021-107-2021.pdf
work_keys_str_mv AT jzhong realtimedepthmapestimationfrominfraredstereoimagesofrgbdcameras
AT mli realtimedepthmapestimationfrominfraredstereoimagesofrgbdcameras
AT mli realtimedepthmapestimationfrominfraredstereoimagesofrgbdcameras
AT xliao realtimedepthmapestimationfrominfraredstereoimagesofrgbdcameras
AT jqin realtimedepthmapestimationfrominfraredstereoimagesofrgbdcameras
AT hzhang realtimedepthmapestimationfrominfraredstereoimagesofrgbdcameras
AT qguo realtimedepthmapestimationfrominfraredstereoimagesofrgbdcameras
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