Cooperation of 3D Segments and 3D Facets information for Object Reconstruction

Given a scrio of trinocular it~iirges of an object, wc: have cl~:velopcd a trrotlrod for Luildilrg 31) L.'accts arid 31) segn~cn t s nrodel of the object. Frorn each triplet, a partial rlescription of tlre object, called 3D View, is extracted. I+OIII the set of all extracted 3D Facets, a strategy for guiding the object reconstruction, based on a statistical ~ u e t l ~ o d is developed. A 3D Mntclling Builder conlputes ~ n a t c l ~ i t ~ g s betweell t h r 3D I'rit~litivc.~ of consecutive 3D Vit-ws. Guidcsd by the strategy, a S~rperstructr~rc gatheres all the ~natching i~~for lnat io l~s given by thc 3D Matching l3uildc.r i l l a set of e q u i l a l e ~ ~ ~ e ~IILZSCS. 1Zor eiicl~ equivalellce class of Superstructure, a reprcsel~tative is derived. 'I'llc 3D I'rin~itivcs n~odcl is fillally c o ~ ~ ~ p u t e d merging inrorn~ations of 3D Facet reprcscntivcs and 311 SVgluent rrprcsc~~tives. This method i m p l c n ~ e ~ ~ t c d ill Sl11alltalk80, hi* bcen applied on a series of stereoscol~ic real images rrlplcts; some results are provided a t the end of the paper.