Novel Descattering Approach for Stereo Vision in Dense Suspended Scatterer Environments

Cited 0 time in webofscience Cited 0 time in scopus
  • Hit : 394
  • Download : 184
In this paper, we propose a model-based scattering removal method for stereo vision for robot manipulation in indoor scattering media where the commonly used ranging sensors are unable to work. Stereo vision is an inherently ill-posed and challenging problem. It is even more difficult in the case of images of dense fog or dense steam scenes illuminated by active light sources. Images taken in such environments suffer attenuation of object radiance and scattering of the active light sources. To solve this problem, we first derive the imaging model for images taken in a dense scattering medium with a single active illumination close to the cameras. Based on this physical model, the non-uniform backscattering signal is efficiently removed. The descattered images are then utilized as the input images of stereo vision. The performance of the method is evaluated based on the quality of the depth map from stereo vision. We also demonstrate the effectiveness of the proposed method by carrying out the real robot manipulation task.
Publisher
MDPI AG
Issue Date
2017-06
Language
English
Article Type
Article
Keywords

UNDERWATER 3D RECONSTRUCTION; BELIEF PROPAGATION; HAZE; VISIBILITY; SENSORS

Citation

SENSORS, v.17, no.6

ISSN
1424-8220
DOI
10.3390/s17061425
URI
http://hdl.handle.net/10203/225156
Appears in Collection
ME-Journal Papers(저널논문)
Files in This Item
000404553900241.pdf(8.07 MB)Download

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0