Incorporating visual knowledge representation in stereo reconstruction

In this paper, we present a two-layer generative model that incorporates generic middle-level visual knowledge for dense stereo reconstruction. The visual knowledge is represented by a dictionary of surface primitives including various categories of boundary discontinuities and junctions in parametric form. Given a stereo pair, we first compute a primal sketch representation which decomposes the image into a structural part for object boundaries and high intensity contrast represented by a 2D sketch graph, and a structure less part represented by Markov random field on pixels. Then we label the sketch graph and compute the 3D sketch (like a wire-frame) by fitting the primitive dictionary to the sketch graph. The surfaces between the 3D sketches are filled in by computing the depth of the MRP model on the structureless part. These two levels interact closely since the MRF is used to propagate information between the primitives, and at the same time, the primitives act as boundary conditions for the MRF. The two processes maximize a Bayesian posterior probability jointly. We propose an MCMC algorithm that simultaneously infers the 3D primitive types and parameters and estimates the depth of the scene. Our experiments show that this representation can infer the depth map with sharp boundaries and junctions for textureless images, curve objects and free-form shapes.