Fuzzy Free Path Detection from Disparity Maps by Using Least-Squares Fitting to a Plane

A method to detect obstacle-free paths in real-time which works as part of a cognitive navigation aid system for visually impaired people is proposed. It is based on the analysis of disparity maps obtained from a stereo vision system which is carried by the blind user. The presented detection method consists of a fuzzy logic system that assigns a certainty to be part of a free path to each group of pixels, depending on the parameters of a planar-model fitting. We also present experimental results on different real outdoor scenarios showing that our method is the most reliable in the sense that it minimizes the false positives rate.N. Ortigosa acknowledges the support of Universidad Politecnica de Valencia under grant FPI-UPV 2008 and Spanish Ministry of Science and Innovation under grant MTM2010-15200. S. Morillas acknowledges the support of Universidad Politecnica de Valencia under grant PAID-05-12-SP20120696.Ortigosa Araque, N.; Morillas Gómez, S. (2014). 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3D-Reconstruction of Faces: Combining Stereo with Class-based Knowledge

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Multiresolution Estimation of 2-d Disparity Using a Frequency Domain Approach

An efficient algorithm for the estimation of the 2-d disparity between a pair of stereo images is presented. Phase based methods are extended to the case of 2-d disparities and shown to correspond to computing local correlation fields. These are derived at multiple scales via the frequency domain and a coarse-to-fine `focusing' strategy determines the final disparity estimate. Fast implementation is achieved by using a generalised form of wavelet transform, the multiresolution Fourier transform (MFT), which enables efficient calculation of the local correlations. Results from initial experiments on random noise stereo pairs containing both 1-d and 2-d disparities, illustrate the potential of the approach. 1 Introduction Estimating the disparity between a pair of binocular images in order to determine depth information from a scene has received considerable attention for many years. Essentially a problem of finding corresponding points in the two views of the scene, the complexity of t..