Depth from magnification and blurring

摘要

A new method of constructing 3D maps based on the relative magnification and blurring of a pair of images is presented, where the images are taken at two camera positions of a small displacement. The method, referred to as depth from magnification and blurring, aims at generating a precise 3D map of local scenes or objects to be manipulated by a robot arm with a hand-eye camera. The method uses a single standard camera with telecentric lens, and assumes neither active illumination nor active control of camera parameters. The proposed depth extraction algorithm is simple in computation. Fusing the two disparate sources of depth information, magnification and blurring, the proposed method provides more accurate and robust depth estimation. Experimental results demonstrate the effectiveness of the proposed method.