Stereo-motion method of three-dimensional (3-D) structure information extraction from a video for fusion with 3-D point cloud data

摘要

STEREO-MOTION METHOD OF THREE-DIMENSIONAL (3-D) STRUCTURE INFORMATION EXTRACTION FROM A VIDEO FOR FUSION WITH 3-D POINT CLOUD DATA According to an embodiment, a method for generating a 3-D stereo structure (400) comprises registering and rectifying (406) a first image frame (100) and a second image frame (200) by local correction matching, extracting (1002) a first scan line from the first image frame, extracting (1012) a second scan line from the second image frame corresponding to the first scan line, calculating (904) a pixel distance between the first scan line and the second scan line for each pixel for a plurality of pixel shifts, calculating (906) a smoothed pixel distance for each pixel for the pixel shifts by filtering the pixel distance for each pixel over the pixel shifts, and determining (908) a scaled height for each pixel of the first scan line, the scaled height comprising a pixel shift from among the pixel shifts corresponding to a minimal distance of the smoothed pixel distance for the pixel. LU ce LU (--) C'f LIJ U-1 CD w C) _j V) -j Lu = co vi F- ::D LU ce C) LU = CL w V) Li- CD C) Lu C) NT =) CD m LL- C) Ctf < ceMO CL- V) ---------- Lai uj 0 V) CD 2wF-i Ul ------------- 2 - cm m CD < X ctf uj CD Lj- ll:VA C) CL< ILI, uj r-4 uj 2 CD --J ------- N't F-I =) 2: 1 < w : ;7 LU w CD CD 2w af Q.3 C:) C) LU x Cl -j Of LIJ ne LN7LN, < CD y ----------- ------------- ---------- -- co 0 (n LLJ LLj T CD LLJ D:f E 0 LU *-T UJ ( D U < U ---------------- LLJ CM LU :> :5E Ln Ul I'T ---------------- 0 -