Multi-view Superpixel Stereo in Urban Environments |
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Authors: | Branislav Mi?u?ík Jana Ko?ecká |
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Affiliation: | 1.Safety and Security Department,AIT Austrian Institute of Technology,Vienna,Austria;2.Computer Science Department,George Mason University,Fairfax,USA |
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Abstract: | Urban environments possess many regularities which can be efficiently exploited for 3D dense reconstruction from multiple
widely separated views. We present an approach utilizing properties of piecewise planarity and restricted number of plane
orientations to suppress reconstruction and matching ambiguities causing failures of standard dense stereo methods. We formulate
the problem of the 3D reconstruction in MRF framework built on an image pre-segmented into superpixels. Using this representation,
we propose novel photometric and superpixel boundary consistency terms explicitly derived from superpixels and show that they
overcome many difficulties of standard pixel-based formulations and handle favorably problematic scenarios containing many
repetitive structures and no or low textured regions. We demonstrate our approach on several wide-baseline scenes demonstrating
superior performance compared to previously proposed methods. |
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Keywords: | |
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