Spatiotemporal Matching Cost Function Based on Differential Evolutionary Algorithm for Random Speckle 3D Reconstruction

Abstract

Random speckle structured light can increase the texture information of the object surface, so it is added in the binocular stereo vision system to solve the matching ambiguity problem caused by the surface with repetitive pattern or no texture. To improve the reconstruction quality, many current researches utilize multiple speckle patterns for projection and use stereo matching methods based on spatiotemporal correlation. This paper presents a novel random speckle 3D reconstruction scheme, in which multiple speckle patterns are used and a weighted-fusion-based spatiotemporal matching cost function (STMCF) is proposed to find the corresponding points in speckle stereo image pairs. Furthermore, a parameter optimization method based on differential evolutionary (DE) algorithm is designed for automatically determining the values of all parameters included in STMCF. In this method, since there is no suitable training data with ground truth, we explore a training strategy where a passive stereo vision dataset with ground truth is used as training data and then apply the learned parameter value to the stereo matching of speckle stereo image pairs. Various experimental results verify that our scheme can realize accurate and high-quality 3D reconstruction efficiently and the proposed STMCF exhibits superior performance in terms of accuracy, computation time and reconstruction quality than the state-of-the-art method based on spatiotemporal correlation.