Ruan1unimasseyacnz brPage 2br Parallel algorithms for stereo vision 57521 shape from stereo ING IE R UAN X ENOPHON Institute of Information Mathematical Sciences Massey University at Albany Auckland New Zealand XingjieRuan1unimasseyacnz This paper ID: 27502
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Par慬lell杯rithms潲tere漠癩si潮₱h慰er潭tereo ING IE U䅎 ENOP䡏N I湳titutef⁉湦潲m慴i潮 &⁍慴桥m慴ic慬⁓cie湣es M慳sey⁕湩versityt⁁l扡湹, A畣kl慮搬⁎ew⁚e慬慮d Par慬lell杯rithms潲tere漠癩si潮₱h慰er潭tereo ING IE U䅎 ENOP䡏N I湳titutef⁉湦潲m慴i潮 &⁍慴桥m慴ic慬⁓cie湣es M慳sey⁕湩versityt⁁l扡湹, A畣kl慮搬⁎ew⁚e慬慮d 周楳 灡灥r 灲潰潳敳 瑨e 灡牡汬敬 慬杯物瑨浳 景r 獴敲敯 癩獩潮. 周e 慵瑨潲 灲敳敮t 瑨e 捯湣数t 潦 獴敲敯 癩獩潮, 瑨e 數楳瑩湧 獴敲敯 癩獩潮 獹獴敭 楮 瑨e 睯牬搬 瑨e 慤癡湴慧e 潦 畳楮g 灡牡汬敬 楮 獴敲敯 癩獩潮 慮搠瑨攠灡牡汬敬 慬杯物瑨浳 景爠獴敲敯 癩獩潮 灡牡汬敬㬠獴敲敯 癩獩潮㬠慬杯物瑨浳㬠捯牲敳灯湤敮捥. Intr潤uc瑩潮 Alm潳t all t桥 桵man 扥i湧s 杯t t桥 stereo visi潮. Pe潰le 歮潷 潢jects are m潶i湧 in t桥 rec潧湩ti潮 潦 stereo 癩si潮. Parallel 灲潣essi湧 桡s 扥en 畳ed in c潭灵ter 癩si潮 潶er t桥 灡st two 摥ca摥s. A湤 als漬 湯wa摡祳, stereo 癩si潮 扥c潭es an im灯rta湴 灡rt 潦 c潭灵ter 癩si潮. Stereo visi潮 畳ed in ma湹 areas 潦潭灵ter⁶isi潮⸠F潲 e硡m灬e stereo⁶isi潮an 扥 畳e搠i渠r潢潴sⰠt桥潢潴 can⁵se t桥ir stereo⁶isi潮 t漠摥tect⁴桥ista湣eetweentself湤⁴桥⁴ar来t扪ect.⁓tereo⁶isi潮ane⁵se搠i渠t桥ec畲ity祳tem, to j潩n two 潲 m潲e ima来s t潧et桥r, so t桡t can i湣rease t桥 ra湧e 潦 癩si潮. In t桥 a湯t桥r 桡湤, 桯w to 扵ild stereo 癩si潮 in realtime 扥c潭es a 扩g 灲潢lem. W桡te癥r in t桥 case 潦 r潢潴 潲 t桥 case 潦 sec畲ity s祳tem, s灥ed 扥c潭es m潲e a湤 m潲e im灯rta湴. With 灡ralleli湧 t桥 al杯rit桭s f潲 stereo 癩si潮Ⱐweanet′㌠times癥n′〠times灥ed⁵瀮 S瑥re漠癩si潮 ㈮1 C潮cept 潦 Stere漠visi潮 Stereo 癩si潮 (Stere潰sis) is t桥 灲潣ess in 癩s畡l 灥rce灴i潮 lea摩湧 to t桥 se湳ati潮 潦 摥灴h fr潭 t桥 tw漠sli杨tl礠differe湴⁰r潪ecti潮sf⁴桥⁷潲ldnt漠t桥eti湡sf⁴桥⁴w漠e祥s.⁛ㅝ 2.2 Hum慮 Stere漠visi潮 H畭a渠桡s⁴w漠e祥s湤湥ea搬ach祥ana灴畲e湥ma来渠aeally桯rt⁴ime⸠A湤 t桥 e祥s se湤 t桩s tw漠ima来s⁴漠潵t 扲ai渮 After⁴桥潭灵tati潮 i渠t桥 扲ai測⁴桥 扲ai渠will桯w 畳⁷桡t we saw. T桥re is 潮e way to c潮firm t桥 ima来s ca灴畲ed 批 e祥s are 摩ffere湴: cl潳e left e祥 to ca灴畲e t桥ma来r潭⁴桥i杨t祥⁴桥渠cl潳e⁴桥i杨t祥⁴漠ca灴畲e⁴桥ma来r潭eft祥.⁁cc潲摩湧⁴漠t桥 c潮tra摩sti湣ti潮, t桥re are s潭e sli杨tly 摩ffere湣es 扥tween two ima来s. By t桥 res畬t 潦 t桥 c潮tra摩sti湣ti潮, 桵man 歮潷s t桡t t桥 扲ain is 湯t j畳t 潮ly mix two ima来s t潧et桥r, 扵t mix t桥m 批 s潭eet桯摳. H畭a渠are扬e t漠摥摵ce 摥灴栠i湦潲mati潮r潭ifferencesf sce湥 aseen 批eft湤i杨t e祥⸠F潲 e硡m灬e, if 潢ject 潮e is m潶i湧 潮 潢ject tw漬 潢ject two is seen 批 桵man 扵t s潭e 灡rts 潦 潢ject is 湯tee渠批畭an if扪ect⁴w漠isi杧er⁴桥渠潢ject湥)⸠T桥n畭a渠歮潷⁴桡t:扪ect湥sl潳er.† 2.3 Stere漠visi潮 in c潭puter 癩si潮 Stereo 癩si潮 in c潭灵ter visi潮 is alm潳t t桥 same as stereo 癩si潮 in 桵ma渮 Stereo visi潮 in c潭灵ter 癩si潮湤 stereo 癩si潮n畭an潴h⁷潲k 潮 t桥 same 灲i湣i灬e.⁗ean set⁵p⁴woamera as⁰e潰leꥳ e祥s, 潮e c潭灵ter as 灥潰leꥳ 扲ai渮 Each camera can ca灴畲e 潮e ima来 a湤 se湤 t桥m to t桥 “扲ai溺 , w桩c栠is⁴桥潭灵ter.⁔桥n⁴桥潭灵teree搠s潭eet桯摳⁴漠mi砠t桥ma来s⁴潧et桥r.⁔桥渠t桥es畬t will⁰rese湴渠t桥cree渮 2.4 C潮tr慤istincti潮 between hum慮 stere漠癩si潮 慮d c潭puter stere漠visi潮 H畭an stereo 癩si潮 a湤 c潭灵ter stereo 癩si潮 is alm潳t t桥 same. T桡tꥳ w桹 stereo 癩si潮 can 扥 灲ese湴edy潭灵ter. But⁴桥y are 湯t totally⁴桥 same.⁂eca畳e t桥 c潭灵ter 摯 湯t湯w w桡t⁰e潰le ꥳrai渠摯⸠S漠itsecessary⁴漠“tell”⁴桥潭灵ter,⁷桩c栠met桯摳畭a渠畳e搮 P慲慬leln瑥re漠癩si潮 N潷a摡祳, stereo 癩si潮 is 湯t 潮ly 畳e in mixi湧 two ima来s t潧et桥r 扵t also 畳ed in ma湹 areas. F潲 e硡m灬e, we 畳e stereo visi潮 潮 a r潢潴, to simulate w桡t 桵man can see 批 t桥ir e祥s. With t桩s 癩si潮, r潢潴 can 摯 s潭e tas歳 f潲 桵ma渮 S畣h as 灩ck 異 潮e 潢ject in t桥 la批ri湴栬 clean t桥 i湳i摥 潦 t桥 灩灥 in s潭e 摡湧er潵s 灬aces. S灥ed is 癥ry im灯rta湴 as灥ct f潲 stereo 癩si潮 灲潣ess i渠realtime. It is 湥cessary⁴漠灡rallelt. 3.1 Hist潲y T桥re are two wa祳 to s灥ed 異 t桥 realtime stereo 癩si潮, t桥 first way is 畳e s潭e 桡r摷are to s灥ed 異⸠T桥t桥r⁷a礠is⁴漠灡rallel⁴桥l杯rit桭s潲tereo⁶isi潮⸠ H慲dw慲e T桥re are s潭e e硩sti湧 桡r摷are arc桩tect畲es in t桥 w潲l搮 O湥 潦 t桥 桡r摷are arc桩tect畲es is created 批⁊.Falc潵,⁊er潴ⰠT⹃桡teau湤⁆⹊畲ie渠㈰〵⁛㉝⸠ Fi杵re‱:⁃l畳ter⁁rc桩tect畲e. T桥 Fi杵re 1 ( fr潭 [㉝ ) s桯ws t桥 cl畳ter arc桩tect畲e. It i湣l畤es ㄴ c潭灵ti湧 湯摥s. Each 湯摥 桡s a 摵al灲潣ess潲 A灰le G5 r畮湩湧 at ㉇Hz a湤 ㅇb mem潲礮 All 湯摥s c潮湥cted to a 杩条扩t et桥r湥t switc栮 A湤 t桥 癩摥o streams is 灲潶i摥d 批 two cameras 癩a t桥 FIREWIRE IEEEㄳ㤴 NETWORK. It 桡sa硩m畭s灥edt‴〰M戠灥rec潮搮 T桥 cl畳ter is 摯i湧 t桥 j潢 w桡t 灥潰leꥳ 扲ain 摯. T桥 camera can ca灴畲e ima来s a湤 灲潶i摥 t桥 癩摥o streams e湯畧h f潲 t桥 灲潣essi湧. After each 湯摥 recei癥d t桥 ima来s, t桥y can w潲k 潮 t桥 ima来, 来t t桥 res畬t a湤 t桥n se湤 扡ck to t桥 master 湯摥. T桥 res畬t will 灲ese湴 to t桥 畳er 潮 t桥 潵t灵t 摲i癥 s畣hscreenr⁰ri湴er. B畴 t桥re is a s祮c桲潮izati潮 灲潢lem: each 湯摥 m畳t 扥 w潲k 潮 same frame in t桥 癩摥o stream. On t桥t桥r⁷潲搬t畳t⁷ait⁵湴ilach潤ei湩s桥d⁴桥⁴as欠潮⁴桥畲re湴rame.⁉渠O灥湍PIi扲ary⁷e can⁵se⁍PI彂arrier⁴漠ma步畲ell⁴桥潤esecei癥d⁴桥ma来s湤⁷潲k渠t桥i杨tma来s. Hereꥳ⁴桥es畬tf⁴桥l畳ter⁁rc桩tecture: Fi杵re′:⁒es畬tf⁃l畳ter⁁rc桩tect畲e. Fr潭⁴桥es畬tf⁴桥l畳ter⁁rc桩tect畲e Fi杵re㈠f潲m⁛㉝),f⁴桥⁴ask⁰r潣ess礠usi湧†si湧le 灲潣ess潲.⁉t⁷ill⁴a步‹㤲⸲ms⸠Wit栠㈠湯摥stet畲n⁴桥es畬t‴㜹⸲ms⸠A湤tet⁴桥″㠮2ms⁷桥n 畳i湧′㠠湯摥s⸠T桡tea湳tlm潳t潴″〠times灥ed⁵瀮⁁潲mal⁶i摥漠杯t″て灳湤⁷it栠t桥′8 湯摥s渠灲潣essi湧⁴桥⁴as欬tlm潳t潴⁴桥ⁱ畡lit礠潦†t桥ealtime⁶i摥漮† ㌮ㄮ㈠⁓潦tw慲e Paralleli湧渠灲潧rammi湧†ta步s⁶er礠im灯rta湴⁰art渠stereo⁶isi潮⸠Herere潭ef⁴桥硡m灬e c潤es⁷桩c栠are⁷潲歩湧渠t桥⁃l畳ter⁁rc桩tect畲e.† Fi杵re″:⁓潦tware⁁rc桩tect畲e,Aimplei湡r礠t桲es桯l摩湧灰licati潮⁵si湧渠cl畳terrc桩tect畲e[㉝ Acc潲摩湧 to t桥 Fi杵re⸳ [㉝, t桥 s潦tware arc桩tect畲e c潮tai湳 a 摡ta str畣t畲e f潲 t桥 i湰畴 a湤 潵t灵t. T桥 e硡m灬e c潤e recei癥d t桥 frame fr潭 t桥 cameras 癩a FIREWIRE Netw潲欬 create a task 潮 t桥 cl畳ter w潲l搠t桥n⁰r潣ess⁴桥⁴ask 潮 t桥 cl畳ter. After t桥 湯摥i湩sh⁰r潣essi湧⁴桥ata, t桥潤es will se湤ack⁴桥ata⁴漠t桥潯t⁷桩chea湳⁴桥aster,湤⁴桥aster⁷ill畴灵t⁴桥ata. Par慬lell杯ri瑨浳潲瑥re漠癩si潮 Parallel al杯rit桭s f潲 stereo visi潮 is 扡sed 潮 t桥 stereo 癩si潮 al杯rit桭s. It 摯es t桥 same thi湧 w桡t stereo 癩si潮 al杯rit桭s 摯. O湬y 摩ffere湴 is we will se灡rate t桥 w桯le task i湴o s潭e small i湤e灥湤e湣e task in t桥 master 灲潣ess潲, se湤 t桯se small tas歳 to each sla癥 湯摥 a湤 灲潣ess in t桥 湯摥, 来t t桥 res畬t 扡ck fr潭 t桥 sla癥 湯摥, t桥n j潩n t桥m t潧et桥r. Build 異 t桥 桡r摷are is 煵ite e硰e湳i癥,漠灡rallel⁴桥l杯rit桭ss潯搠wa礠t漠s灥ed⁵瀮 㐮1 An慬祳is T桥re are f潵r ste灳 to 来t t桥 stereo 癩si潮 in c潭灵ter 癩si潮: Set 異 t桥 e湶ir潮me湴, Cali扲ate 潮 t桥 camera,i湤i湧†c潲res灯湤ence湤潭灵tee灴栮 Envir潮ment To 来t t桥 stereo 癩si潮, it's 湥cessary to 桡癥 two cameras a湤 潮e c潭灵ter. T桥re are s潭e 癡ria扬es in t桥 stereo 癩si潮. Dista湣e 潦 two cameras, t桥 a湧el fr潭 t桥 cameras to t桥 潢ject a湤 a湹 癡ria扬es related⁴漠t桥ameras湤扪ect. C慬ibr慴en⁴he慭era N潴桩湧 is 灥rfect in t桥 w潲l搮 Same as t桥 cameras. Beca畳e 潦 t桥 mirr潲 in t桥 camera are 湯t t桥 same, in some case, a 扥eli湥 in t桥 realw潲ld will 灲ese湴 as t桥 c畲癥 in t桥 ima来. In t桩s sit畡ti潮, it is 湥cessary to cali扲ate t桥 cameras. Fr潭 t桥 res畬t 潦 cali扲ati湧 t桥 cameras, t桥y s桯畬d 灲ese湴 t桥 sameeeli湥渠tw漠ima来s. Findin朠c潲resp潮dence T桥 c潲res灯湤e湣e 灲潢lem mea湳 桯w to c潮j畧ate 灯i湴s in t桥 ㌭d in two ima来s. O湥 灯int in t桥 ima来 ca灴畲ed 批 left camera may 扥 a湹w桥re in t桥 ima来 ca灴畲ed 批 ri杨t camera. It can 扥 灡rallele搮 Beca畳e t桥 灯int w桩ch is t桥 灩硥l fr潭 left camera is 湯t 摥灥湤 潮 a湹 灩硥l in t桥 left camera. C潭puteepth We can 歮潷 桯w cl潳e is t桥 潢ject 扥ca畳e 潵r 扲ain can c潭灵te 摥灴h 潦 t桥 ima来. T桥 灡rt is related⁴漠t桥潭灵tati潮礠tria湧畬ati潮[㍝. 4.2 Meth潤潬潧y C潭puteepth Tri慮gul慴i潮) T桥et桯摯l潧礠畳ed潲潭灵tee灴栠is桯wsel潷. Fi杵re‴:⁃潭灵tee灴栠[㍝ Fr潭⁴桥⁆i杵re4⁛㍝ll⁴桥⁶aria扬esre湯w渠w桥n畩l搠異⁴桥湶ir潮me湴.⁗eanete灴栠批 畳i湧⁴桥潲m畬a渠t桥⁆i杵re㐮 C慭era⁃慬ibr慴i潮 T桥潭m潮et桯搠t漠cali扲ateameras⁴漠ta步ma来f桥ss扯ar搮†First⁴漠摯s⁃a湮y摧e 摥tecti潮fter⁴桥etecti潮,itti湧⁴桥trai杨ti湥⁴漠摥tecti湫ed摧es,⁴桥n湴ersecti湧⁴桥i湥s⁴o 潢tai渠t桥ma来潲湥rs,atchma来潲湥rs湤″D⁴ar来t桥ss扯ard潲湥rs⁷桩c栠癩si扬e渠ima来. T桥渠weanet⁴桥⁰airsfatch⁰oi湴⸠ 4.3 Implement慴i潮 Fr潭 t桥 secti潮⸳ in t桩s re灯rt. It tells us all t桥 w潲歳 are alm潳t i湤e灥湤e湴. Each task is 湯t related to a湯t桥r tas欮 It is 灯ssi扬e to 摯 t桡t in 灡rallel. F潲 e硡m灬e, in fi湤i湧 c潲res灯湤ence, t桥 master 灲潣ess潲 first 来t a 灡ir 潦 ima来s, 扲潡摣ast t桥 left ima来 to t桥 sla癥 湯摥. T桥n se灡rate t桥 ri杨t ima来 into 灩eces. Se湤 t桯se pieces to t桥 sla癥 湯摥s. T桥 task 潦 each sla癥 湯摥 is to fi湤 潵t t桥 灩硥ls渠t桥eftma来⁷桩c栠match⁴桥irw渠摡ta 灩硥ls). 㔠C潮clusi潮 T桩s 灡灥r s桯w t桡t t桥 arc桩tect畲e 潦 t桥 cl畳ter f潲 realtime stereo 癩si潮, t桥 c潮ce灴 a湤 al杯rit桭s f潲 t桥 stereo 癩si潮. In t桥 res畬t 潦 t桥 researc栬 we 歮潷 t桡t it is 灯ssi扬e to im灬eme湴 灡rallel in stereo 癩si潮 a湤 潢癩潵s t桡t t桥re is s灥ed 異. Realtime stereo 癩si潮 灲潢lems can 扥 s潬癥d 批 灡rallell杯rit桭s潲tereo⁶isi潮⸠ References [ㅝ Retrie癥d‱㔠MAY′〰㤮₪Stere潰sisⲺ渠 Wiki灥摩愬T桥ree⁅湣ycl潰e摩a Fr潭tt瀺//e渮wi歩灥摩ar术wi歩/Stere潟癩si潮 [㉝ J. Falc潵, J. Ser潴, T. C桡tea甬 F. J畲ie, “A Parallel Im灬eme湴ati潮 潦 a ㍄ Rec潮str畣ti潮 Al杯rit桭潲⁒ealTime⁖isi潮⺺渠 P慲慬lel⁃潭灵ti湧′〰5 [㍝ Kla畳 D⹔潥湮ies⸬ “㔮Stereo Visi潮 (I湴r潤畣ti潮)Ⲻ in ㍄ C潭灵ter Visi潮 , U湩癥rsity Ma杤e扵rg [㑝†R⹈artley湤⁁⸠Zisserma測₪M畬ti灬e⁖iew⁇e潭etr礬”渠 C潭灵ter⁖isi潮 ⱃam扲i摧e⁕湩癥rsity PressⰠ㈰〰Ⱐ灰⸠ㄳ㠭ㄸ3 [㕝 O. Fa畧eras, “T桲eeDime湳i潮al C潭灵ter Visi潮: A Ge潭etric A灰r潡c梺, MIT Pressⰱ㤹㘬 灰. ㌳㘸 [㙝 R⸠Y.⁔saiⲪA⁖ersatile⁃amera⁃ali扲ati潮⁔ec桮i煵e潲†㍄⁍ac桩湥⁖isi潮”Ⱐ⁉EEE⁊⸠R潢潴ics &⁁畴omati潮,⁒A㌬⁎漮‴ⰠA畧畳t‱㤸㜬⁰瀮†㌲㌭㌴4