A mobile robot equipped with a single camera can take images at different locations to obtain the 3D information of the environment for navigation. The depth information perceived by the robot is critical for obstacle avoidance. Given a calibrated camera, the accuracy of depth computation largely depends on locations where images have been taken. For any given image pair, the depth error in reg...

Three-dimensional content (3D) creation has received a lot of attention due to numerous successes of 3D entertainment. Accurate stereo correspondence is necessary for efficient 3D content creation. In this paper, we propose a disparity map estimation method based on stereo correspondence. The proposed system utilizes depth and stereo camera sets. While the stereo set carries out disparity estim...

This paper proposes to infer accurately a 3D shape of an object captured by a depth camera from multiple view points. The Generalised Relaxed Radon Transform (GR2T) [1] is used here to merge all depth images in a robust kernel density estimate that models the surface of an object in the 3D space. The kernel is tailored to capture the uncertainty associated with each pixel in the depth images. T...

3D difference detection is the task to verify whether the 3D geometry of a real object exactly corresponds to a 3D model of this object. We present an approach for 3D difference detection with a hand-held depth camera. In contrast to previous approaches, with the presented approach geometric differences can be detected in real-time and from arbitrary viewpoints. The 3D difference detection accu...

In this paper we show how to obtain full-resolution depth maps from a single image obtained from a plenoptic camera. Previous work showed that the estimation of a low-resolution depth map with a plenoptic camera differs substantially from that of a camera array and, in particular, requires appropriate depth-varying antialiasing filtering. In this paper we show a quite striking result: One can i...

In this article we introduce new methods for the calibration of depth images from focused plenoptic cameras and validate the results. We start with a brief description of the concept of a focused plenoptic camera and how from the recorded raw image a depth map can be estimated. For this camera, an analytical expression of the depth accuracy is derived for the first time. In the main part of the...

Current 3D video applications require the availability of high quality depth information. Depth information can be acquired real-time by stereo vision systems and ToF cameras. Both solutions present critical issues, that can be overcome by their combined use. In this paper, a heterogeneous acquisition system is considered, made of two high resolution standard cameras (stereo pair) and one ToF c...

Depth recovery is a central concern in computer vision, and many methods were proposed for the monocular depth estimation by zooming as well as focusing and irising. In the past, there are two distinct approaches in depth by zooming; one is from motion parallax along the optical axis using a pinhole camera model, and the other from defocus using a thin lens camera model. This paper presents a n...

In this paper we will present a novel approach of using surface patches for Image Based Rendering. Based on image sequences acquired with a freely moving portable multi-camera-rig we can extrapolate novel views of complex real scenes in realtime. The cameras are calibrated from the image sequence itself and dense depth maps are computed for each camera view using an improved multiview depth est...