Range image pixel matching method

摘要

A method for matching the pixels (10-1, 10-2) of a first range image of a scene (18) as seen from a first point of sight (14) with pixels (12-1, 12-2) of a second range image of the scene as seen from a second point of sight (16) comprises the following steps: providing the first range image as a grid of source pixels (10), on which the scene is mapped in accordance with a first projection associated with the first point of sight, wherein each source pixel has a point in the scene projected thereon in accordance with the first projection and has associated therewith a range value determined for that point in the scene; providing a grid of target pixels (12) for the second range image and a second projection associated with the second point of sight; and for each one of the target pixels, a) determining which source pixel would have the same point (P1, P2) in the scene projected thereon in accordance with the first projection as the target pixel would have projected thereon in accordance with the second projection if the imaged scene were a planar surface at a certain surface distance from the first point of sight; b) determining a depth coordinate of the point in the scene that the source pixel determined in step a) actually has projected thereon in accordance with the first projection; c) if the depth coordinate is greater than a threshold, which is itself greater than the surface distance, repeating steps a), b) and c) with an increased surface distance at step a) and an increased threshold at step c), and else associating the target pixel with the source pixel determined in step a).

主权项

1. A method for matching source pixels of a first range image of a scene as seen from a first point of sight with target pixels of a second range image of said scene as seen from a second point of sight; said method comprising: providing said first range image as a grid of source pixels, on which said scene is mapped in accordance with a first projection associated with said first point of sight, wherein each source pixel has a point in said scene projected thereon in accordance with said first projection and has an associated range value that has been determined for that point in the scene; providing a grid of target pixels for said second range image and a second projection associated with said second point of sight; and for each one of said target pixels, a) determining which source pixel would have a same point in said scene projected thereon in accordance with said first projection as said target pixel in accordance with said second projection if the imaged scene were a planar surface at a surface distance from said first point of sight; b) determining a depth coordinate of a point in said scene that said source pixel determined in step a) actually has projected thereon in accordance with said first projection; c) if said depth coordinate is greater than a threshold, which is itself greater than said surface distance, repeating steps a), b) and c) with an increased surface distance at step a) and an increased threshold at step c), and else associating said target pixel with the source pixel determined in step a).