1,582 research outputs found
Semi-Global Stereo Matching with Surface Orientation Priors
Semi-Global Matching (SGM) is a widely-used efficient stereo matching
technique. It works well for textured scenes, but fails on untextured slanted
surfaces due to its fronto-parallel smoothness assumption. To remedy this
problem, we propose a simple extension, termed SGM-P, to utilize precomputed
surface orientation priors. Such priors favor different surface slants in
different 2D image regions or 3D scene regions and can be derived in various
ways. In this paper we evaluate plane orientation priors derived from stereo
matching at a coarser resolution and show that such priors can yield
significant performance gains for difficult weakly-textured scenes. We also
explore surface normal priors derived from Manhattan-world assumptions, and we
analyze the potential performance gains using oracle priors derived from
ground-truth data. SGM-P only adds a minor computational overhead to SGM and is
an attractive alternative to more complex methods employing higher-order
smoothness terms.Comment: extended draft of 3DV 2017 (spotlight) pape
Semantically Informed Multiview Surface Refinement
We present a method to jointly refine the geometry and semantic segmentation
of 3D surface meshes. Our method alternates between updating the shape and the
semantic labels. In the geometry refinement step, the mesh is deformed with
variational energy minimization, such that it simultaneously maximizes
photo-consistency and the compatibility of the semantic segmentations across a
set of calibrated images. Label-specific shape priors account for interactions
between the geometry and the semantic labels in 3D. In the semantic
segmentation step, the labels on the mesh are updated with MRF inference, such
that they are compatible with the semantic segmentations in the input images.
Also, this step includes prior assumptions about the surface shape of different
semantic classes. The priors induce a tight coupling, where semantic
information influences the shape update and vice versa. Specifically, we
introduce priors that favor (i) adaptive smoothing, depending on the class
label; (ii) straightness of class boundaries; and (iii) semantic labels that
are consistent with the surface orientation. The novel mesh-based
reconstruction is evaluated in a series of experiments with real and synthetic
data. We compare both to state-of-the-art, voxel-based semantic 3D
reconstruction, and to purely geometric mesh refinement, and demonstrate that
the proposed scheme yields improved 3D geometry as well as an improved semantic
segmentation
Learning sparse representations of depth
This paper introduces a new method for learning and inferring sparse
representations of depth (disparity) maps. The proposed algorithm relaxes the
usual assumption of the stationary noise model in sparse coding. This enables
learning from data corrupted with spatially varying noise or uncertainty,
typically obtained by laser range scanners or structured light depth cameras.
Sparse representations are learned from the Middlebury database disparity maps
and then exploited in a two-layer graphical model for inferring depth from
stereo, by including a sparsity prior on the learned features. Since they
capture higher-order dependencies in the depth structure, these priors can
complement smoothness priors commonly used in depth inference based on Markov
Random Field (MRF) models. Inference on the proposed graph is achieved using an
alternating iterative optimization technique, where the first layer is solved
using an existing MRF-based stereo matching algorithm, then held fixed as the
second layer is solved using the proposed non-stationary sparse coding
algorithm. This leads to a general method for improving solutions of state of
the art MRF-based depth estimation algorithms. Our experimental results first
show that depth inference using learned representations leads to state of the
art denoising of depth maps obtained from laser range scanners and a time of
flight camera. Furthermore, we show that adding sparse priors improves the
results of two depth estimation methods: the classical graph cut algorithm by
Boykov et al. and the more recent algorithm of Woodford et al.Comment: 12 page
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