Using geometric constraints for matching disparate stereo views of 3D scenes containing planes
Several vision tasks rely upon the availability of sets of corresponding features among images. This paper presents a method which, given some corresponding features in two stereo images, addresses the problem of matching them with features extracted from a second stereo pair captured from a distant viewpoint. The proposed method is based on the assumption that the viewed scene contains two planar surfaces and exploits geometric constraints that are imposed by the existence of these planes to predict the location of image features in the second stereo pair. The resulting scheme handles point and line features in a unified manner and is capable of successfully matching features extracted from stereo pairs acquired from considerably different viewpoints. Experimental results from a prototype implementation demonstrate the effectiveness of the approach.
Contributions: Stavros Tzurbakis, Manolis Lourakis, Antonis Argyros, Stelios Orphanoudakis
Current status: Method developed, on-line experiments available.
Sample results
Fig (a): Left image of the first stereo-pair
Fig (b): Right image of the first stereo-pair
Fig (c): Left image of the second stereo-pair
Fig (d):Point matches in the left image of the first stereo pair
Fig (e): Point matches in the right image of the first stereo pair
Fig (f): Resulting matched points at the distant, left image of the second stereo pair
Fig (h): Reconstruction of scene and camera geometry based on the extracted correspondences: top view
Available documents:
