MULTIPLE IMAGE DISPARITY CORRECTION FOR 3-D SCENE REPRESENTATION

This paper analyses the reconstruction of a 3-D scene from multiple images. The proposed approach uses a voxel representation for initializing an implicit radial basis function (RBF) model of the 3-D scene. The voxel representation is produced by the space carving algorithm. Disparity errors are identified as inconsistencies between the 3-D patches of the scene surface and their pixel block correspondents in the images. A matching algorithm is used for estimating the disparity errors after aligning all these pixel block regions along epipolar lines, each corresponding to a 3-D patch of scene surface. An algorithm is derived for updating the RBF center locations using the disparity errors. Experiments are performed on two different sets of images and numerical results are provided when comparing the resulting 3-D scene with the ground truth given by a laser scanner.