Depth reconstruction uncertainty analysis and improvement - The dithering approach

Document type: Journal Articles
Article type: Original article
Peer reviewed: Yes
Author(s): Jiandan Chen, Siamak Khatibi, Wlodek Kulesza
Title: Depth reconstruction uncertainty analysis and improvement - The dithering approach
Journal: Image and Vision Computing
Year: 2010
Volume: 29
Issue: 9
Pagination: 1377-1385
ISSN: 0262-8856
Publisher: Elsevier
URI/DOI: 10.1016/j.imavis.2010.03.003
ISI number: 000279506700005
Organization: Blekinge Institute of Technology
Department: School of Engineering - Dept. of Electrical Engineering (Sektionen för ingenjörsvetenskap - Avd. för elektroteknik)
School of Engineering S-371 79 Karlskrona
+46 455 38 50 00
Language: English
Abstract: The depth spatial quantization uncertainty is one of the factors which influence the depth reconstruction accuracy caused by a discrete sensor. This paper discusses the quantization uncertainty distribution, introduces a mathematical model of the uncertainty interval range, and analyzes the movements of the sensors in an Intelligent Vision Agent System. Such a system makes use of multiple sensors which control the deployment and autonomous servo of the system. This paper proposes a dithering algorithm which reduces the depth reconstruction uncertainty. The algorithm assures high accuracy from a few images taken by low-resolution sensors. The dither signal is estimated and then generated through an analysis of the iso-disparity planes. The signal allows for control of the camera movement. The proposed approach is validated and compared with a direct triangulation method. The simulation results are reported in terms of depth reconstruction error statistics. The physical experiment shows that the dithering method reduces the depth reconstruction error.
Subject: Signal Processing\General
Keywords: Depth reconstruction, Dither, Iso-disparity planes, Quantization uncertainty