Authors:
Sudanthi N. R. Wijewickrema
1
;
Andrew P. Paplińki
1
and
Charles E. Esson
2
Affiliations:
1
Clayton School of Information Technology Monash University, Australia
;
2
Colour Vision Systems Pty Ltd, Australia
Keyword(s):
Quadric Reconstruction, Ellipsoid Modelling, Occluding Contours, Fruit Sorting.
Related
Ontology
Subjects/Areas/Topics:
Computer Vision, Visualization and Computer Graphics
;
Image and Video Analysis
;
Image Formation and Preprocessing
;
Motion, Tracking and Stereo Vision
;
Multi-View Geometry
;
Real-Time Vision
;
Surface Geometry and Shape
Abstract:
We describe the reconstruction of quadric surfaces with special attention on ellipsoids, using two different views from calibrated cameras, given that they rest on known objects in space. The technique proposed focuses basically on speed and efficiency and is suitable to be used in resource constrained environments in real time. We model the quadric in dual space and introduce a method of including application specific information in the reconstruction. We also discuss a novel and fast way of adjusting the occluding contours to fit the epipolar tangency constraints before the reconstruction. We further apply this to a real-life application where ellipsoidal fruits are modelled in 3d. Then, we analyze the error of fit for the reconstructed quadrics. Although this paper focuses on ellipsoids, it can be easily extended to incorporate the modelling of other non-degenerate quadrics using two occluding contours in dual space.