Abstract
Our aim is to provide an autonomous vehicle moving into an indoor environment with a visual system to perform a qualitative 3D structure reconstruction of the surrounding environment by recovering the different planar surfaces present in the observed scene.
The method is based on qualitative detection of planar surfaces by using projective invariant constraints without the use of depth estimates. The goal is achieved by analyzing two images acquired by observing the scene from two different points of view. The method can be applied to both stereo images and motion images.
Our method recovers planar surfaces by clustering high variance interest points whose cross ratio measurements are preserved in two different perspective projections. Once interest points are extracted from each image, the clustering process requires to grouping corresponding points by preserving the cross ratio measurements.
We solve the twofold problem of finding corresponding points and grouping the coplanar ones through a global optimization approach based on matching of high relational graphs and clustering on the corresponding association graph through a relaxation labeling algorithm.
Through our experimental tests, we found the method to be very fast to converge to a solution, showing how higher order interactions, instead to giving rise to a more complex problem, help to speed-up the optimization process and to reach at same time good results.
Similar content being viewed by others
References
Beardsley, P.A., Reid, I.D., Zisserman, A., and Murray, D.W.1994. Active visual navigation using non-metric structure. Technical Report No. OUEL 2047/94.
Carlsson, S.1996. Projectively invariant decomposition and recognition of planar shapes. International Journal of Computer Vision, 17(2):193–209.
Chabbi, H. and Berger, M.O.1996. Using projective geometry to recover planar surfaces in stereovision. Pattern Recognition, 29(4):533–548.
Deriche, R., Zhang, A., Luong, Q.-T., and Faugeras, O.D.1994. Robust recovery of the epipolar geometry for an uncalibrated stereo rig. In Proceedings European Conference on Computer Vision ECCV'94, pp.565–576.
Faugeras, O.D.1992. What can be seen in three dimensions with an uncalibrated stereo rig? In Proceedings of European Conference on Computer Vision ECCV'92, pp.563–578.
Faugeras, O.D. and Toscani, G.1986. The calibration problem for stereo. In Proceedings Computer Vision Pattern Recognition CVPR'86, pp. 15–20.
Gurdjos, P., Dalle, P., and Castan, S.1996. Tracking 3D coplanar points in the invariant perspective coordinates plane. In Proceedings of International Conference on Pattern Recognition ICPR'96.
Hartley, R.I., Gupta, R., and Chang, T.1992. Stereo from uncalibrated cameras. In Proceedings of Computer Vision and Pattern Recognition CVPR'92, pp.761–764.
Horaud, R. and Skordas, T.1989. Stereo correspondence through feature grouping and maximal cliques. IEEE Trans. Pattern Anal. Machine Intell., 11(11):1168–1180.
Hummel, R.A. and Zucker, S.W.1983. On the foundations of relaxation labelling processes. IEEE Trans. Patter. Anal. Mach. Intell., 5(3):267–287.
Jagota, A.1995. Approximating maximum clique with a hopfield neural network. IEEE Transaction on Neural Networks, 6(3):724–735.
Kanatani, K.1994. Computational cross ratio for computer vision. CVGIP: Image Understanding, 60(3):371–381.
Luong, Q.-T. and Faugeras, O.D.1996. The fundamental matrix: Theory, algorithms, and stability analysis. International Journal of Computer Vision, 1:43–75.
Maybank, S.J. 1995a. Probabilistic analysis of the application of cross ratio to model based vision: Misclassification. International Journal of Computer Vision, 14:199–210.
Maybank, S.J. 1995b. Probabilistic analysis of the application of cross ratio to model based vision. International Journal of Computer Vision, 16:5–33.
Moravec, H.P.1983. The Stanford Cart and the CMU rover. In Proceedings IEEE.
Nagao, K.1996. Direct methods for evaluating the planarity and rigidity of a surface using only 2D views. In Proceedings of International Conference of Pattern Recognition ICPR'96, pp. 417–422.
Oberkampf, D., DeMenthon, D.F., and Davis, L.S. 1996. Iterative pose estimation using coplanar feature points. CVGIP: Image Understanding, 63(3):495–511.
Pardalos, P.M. and Xue, J.1994. The maximum clique problem. Global Optimization, 4:301–328.
Pelillo, M.1995. Relaxation labeling networks for the maximum clique problem. Journal of Artificial Neural Networks, 2(4):313–328.
Pelillo, M.1997. The dynamics of nonlinear relaxation labeling processes. Journal of Mathematical Imaging and Vision, 7(4):309–323.
Prichett, P. and Zisserman, A.1998.Wide baseline stereo matching. In Proceedings of International Conference on Computer Vision ICCV'98.
Rosenfeld, A., Hummel, R.A., and Zucker, S.W.1976. Scene labeling by relaxation operations. IEEE Trans. Syst. Man. Cyber., 6(6):420–433.
Rothwell, C.A., Zisserman, A., Forsyth, D.A., and Mundy, J.L.1995. Planar object recognition using projective shape representation. International Journal of Computer Vision, 16:57–99.
Semple, J. and Kneebone, G.1979. Algebraic Projective Geometry, Oxford University Press.
Sinclair, D. and Blake, A.1996. Qualitative planar region detection. International Journal of Computer Vision, 18(1):77–91.
Tsai, R.Y.1986. An efficient and accurate camera calibration technique for 3D machine vision. In Proceedings of Computer Vision and Pattern Recognition CVPR'86, pp.364–374.
Zhang, Z. and Faugeras, O.1994. Finding planes and clustering of objects from 3D line segments with application to 3D motion determination. CVGIP: Image Understanding, 60(3):267–284.
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Branca, A., Stella, E. & Distante, A. Qualitative Scene Interpretation Using Planar Surfaces. Autonomous Robots 8, 129–139 (2000). https://doi.org/10.1023/A:1008931527373
Issue Date:
DOI: https://doi.org/10.1023/A:1008931527373