Stereo vision: a neural network application to constraint satisfaction problem

Madjid S. Mousavi; Robert J. Schalkoff

doi:10.1117/12.25215

1 February 1991 Stereo vision: a neural network application to constraint satisfaction problem

Madjid S. Mousavi, Robert J. Schalkoff

Proceedings Volume 1382, Intelligent Robots and Computer Vision IX: Neural, Biological, and 3D Methods; (1991) https://doi.org/10.1117/12.25215
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

In this paper, a stereo vision matching algorithm, implemented via a neural network architecture, is described. The stereo matching problem, that is, finding the correspondence of features between two images, can be cast as a constraint satisfaction problem. The algorithm uses image edge features and assumes a parallel-axis camera geometry such that the corresponding image points must lie in the same scanline. Intra-scanline constraints are used to to perform multipleconstraint satisfaction searches for the correct match. Further, inter-scanline constraints are used to enforce consistent matches by eliminating those that are not getting enough support from the neighboring scanlines. The inter-scanline constraints are implemented in a 3-D neural network which is formed by a stack of 2-D neuron layers. First, a mulilayered network is designed to extract the features points for matching using a static neural network. A similarity measure is defined for each pair of feature point matches which are then passed on to the second stage of the algorithm. The purpose of the second stage is to turn the difficult correspondence problem into a constraint satisfaction problem by imposing relational constraints. The result of computer simulations are presented to demonstrate the effectiveness of the approach.

Citation Download Citation

Madjid S. Mousavi and Robert J. Schalkoff "Stereo vision: a neural network application to constraint satisfaction problem", Proc. SPIE 1382, Intelligent Robots and Computer Vision IX: Neural, Biological, and 3D Methods, (1 February 1991); https://doi.org/10.1117/12.25215

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