Reconstruction of Spheres using Occluding Contours from Stereo Images

This paper discusses an efficient way of reconstructing spheres from the occluding contours of two views. It takes into consideration, the geometric properties of the system and uses frontier points as additional data. This algorithm is especially useful for applications where the objects to be modelled are known to resemble spheres and where speed is of importance. It is developed for fruit sorting applications where the processing has to be done in real-time