Inria Institut National De Recherche En Informatique Et En Automatique

Matra Systems Et Information

Nicolas Ayache

Xavier Pennec

Vincent Arsigny

Jacques Ariel Sirat

David Canu

Pierre Fillard

Xavier Les Cottages Pennec

Vincent Résidence Marie-Lucy Arsigny

A device (D) is dedicated to the processing of data constituting initial tensor images, each tensor being a real symmetric and positive definite matrix representing an elementary part of a received tensor image. This device (D) comprises, on the one hand, a first calculating module (MC) capable of performing a first selected, bijective and defined function of R*in R, and being associated with a selected metric definition, this first function allowing a second reciprocal function, and on the other, comprises a first processing module (MT) provided for: i) constituting a first representation of a received tensor image; ii) calling the first calculating module (MC) for applying the first function to a selected part of the first representation whereby obtaining a transformed part, and; iii) constituting, from the transformed part, a second representation of the tensor images ready to be processed.

Device for processing raw images or tensor images

The method produces three dimensional cartographic data of a scene from n two-dimensional images of the scene, n being an integer higher than 2. The images are delivered by n respective detectors seeing the scene from different points of view. In a first step, each detector i is calibrated for estimating parameters identifying n affine models F,(x, y, z) each defining a relation between coordinates x, y, z of any point in the scene and coordinates (p, q),of a projection of said any point in an image i among said n images. Each of (n&minus;1) couples of images, (each couple consisting of a same reference image selected among said n images) is matched, each match being made by searching an homolog of each of pixels or zones constituting the reference image along a corresponding epipolar line of the other image of the couple. In each couple of two images, each comprising one reference image, and for each pixel or each zone of the reference image, a curve plotting a degree of similarity as a function of disparity along the epipolar line of the other image of the couple is prepared. All curves are brought into a common reference frame for matching a maximum number of images. All curves are summed and the highest peak is retained. The coordinates x, y, z of each point are derived from the disparity of the retained peak and from the parameter of the n models F,(x, y, z).

Process for producing cartographic data by stereo vision

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Nice, France

Nicolas Ayache