Epipolar Transferを利用した対応点探索と回転型ステレオカメラによる密な三次元再構成

Abstract

This paper proposes a method to construct the accurate and dense three-dimentional (3D) model of an outdoor scene by a rotational stereo camera. The rotational stereo camera system consists of two binocular stereo camera which are a horizontal stereo camera and a vertical stereo camera. The vertical stereo camera can change angle whose range is from −180[deg] to 180[deg] rotating the axis back and forth and can capture the target at various angles. It is difficult to reconstruct outdoor scenes accurately using one binocular stereo camera because the distance to a target is very far compared with the stereo camera's baseline length. In this paper, binocular stereo cameras are treat as a multi view stereo. But a corresponding method is required to match between very different images. Therefore the proposed method uses Epipolar transfer as a corresponding method. Epipolar transfer can match images without using Template matching like NCC. As an experiment, a blimp robot with a rotational stereo camera is used to capture aerial stereo images of the ground. The proposed method achieves the accurate reconstruction of the outdoor 3D model.