Article

# Spacetime stereo: a unifying framework for depth from triangulation.

Honda Research Institute, Mountain View, CA 94041, USA.

IEEE Transactions on Pattern Analysis and Machine Intelligence (Impact Factor: 4.8). 03/2005; 27(2):296-302. DOI: 10.1109/TPAMI.2005.37 Source: PubMed

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**ABSTRACT:**Intrinsic isometric shape matching has become the standard approach for pose invariant correspondence estimation among deformable shapes. Most existing approaches assume global consistency, i.e., the metric structure of the whole manifold must not change significantly. While global isometric matching is well understood, only a few heuristic solutions are known for partial matching. Partial matching is particularly important for robustness to topological noise (incomplete data and contacts), which is a common problem in real-world 3D scanner data. In this paper, we introduce a new approach to partial, intrinsic isometric matching. Our method is based on the observation that isometries are fully determined by purely local information: a map of a single point and its tangent space fixes an isometry for both global and the partial maps. From this idea, we develop a new representation for partial isometric maps based on equivalence classes of correspondences between pairs of points and their tangent spaces. From this, we derive a local propagation algorithm that find such mappings efficiently. In contrast to previous heuristics based on RANSAC or expectation maximization, our method is based on a simple and sound theoretical model and fully deterministic. We apply our approach to register partial point clouds and compare it to the state-of-the-art methods, where we obtain significant improvements over global methods for real-world data and stronger guarantees than previous heuristic partial matching algorithms.Graphical Models. 08/2013; - [Show abstract] [Hide abstract]

**ABSTRACT:**This paper presents a novel N-ocular 3D reconstruction algorithm for event-based vision data from bio-inspired artificial retina sensors. Artificial retinas capture visual information asynchronously and encode it into streams of asynchronous spike-like pulse signals carrying information on, e.g., temporal contrast events in the scene. The precise time of the occurrence of these visual features are implicitly encoded in the spike timings. Due to the high temporal resolution of the asynchronous visual information acquisition, the output of these sensors is ideally suited for dynamic 3D reconstruction. The presented technique takes full benefit of the event-driven operation, i.e. events are processed individually at the moment they arrive. This strategy allows us to preserve the original dynamics of the scene, hence allowing for more robust 3D reconstructions. As opposed to existing techniques, this algorithm is based on geometric and time constraints alone, making it particularly simple to implement and largely linear.Neural Networks 03/2013; · 1.93 Impact Factor -
##### Conference Paper: Industrial Phase-Shifting Profilometry in Motion

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**ABSTRACT:**Phase-Shift Profilometry (PSP) provides a means for dense high-quality surface scanning. However it imposes a staticity constraint: The scene is required to remain still during the acquisition of multiple images. PSP is also not applicable to dynamic scenes. On the other hand, there exist active stereo techniques which overcome these constraints but impose other limitations, for instance on the surfacetextquoterights continuity or texture, or by significantly reducing the reconstructiontextquoterights resolution. We present a novel approach to recover reconstructions as dense and almost as accurate as PSP but which allows for a translational object/scene motion during the acquisition of multiple input frames, study its performance in simulations, and present real data results.18th Scandinavian Conference on Image Analysis, SCIA 2013; 01/2013

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