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Showing papers on "Anaglyph 3D published in 2013"


Proceedings ArticleDOI
TL;DR: An autostereoscopic display system based on active anaglyph parallax barrier, which provides four viewpoints in full resolution, which is realized with 120Hz displays and requires no special optical devices.
Abstract: In this paper, we propose an autostereoscopic display system based on active anaglyph parallax barrier, which provides four viewpoints in full resolution. This system is realized with 120Hz displays and requires no special optical devices. With the four viewpoints achieved, a smoother multi-view experience can be achieved when involving head tracking. In addition, this system can be used for two-viewpoint autostereoscopy that allows more freedom of movement than that of a conventional parallax barrier system. We made a prototype system with two 120Hz displays and successfully showed four viewpoints.

23 citations


Journal ArticleDOI
TL;DR: The proposed method tries to minimize the color distortions, retinal rivalry, and ghosting effect simultaneously simultaneously and works in the CIELAB color space which is perceptually uniform.
Abstract: Anaglyph is an inexpensive three-dimensional (3D) displaying technique. It has deficiencies like color distortions, retinal rivalry, ghosting effect, etc. In this paper, a new method is proposed for anaglyph image generation. In contrast to most existing studies which focus on solving part of the problems, the proposed method tries to minimize the color distortions, retinal rivalry, and ghosting effect simultaneously. It works in the CIELAB color space which is perceptually uniform. Rather than matching the L ⁎ a ⁎ b ⁎ values of the stereo image pair and the perceived anaglyph image as in an existing method (McAllister et al., 2010 [1] ), the proposed algorithm is aimed at matching perceptual color appearance attributes which can accurately define the color perception of the human visual system (HVS). Rather than evaluating the performance based on typically 3–5 images as in most prior studies, subjective tests have been conducted, involving 25 stereo image pairs and 20 subjects, to compare four anaglyph generation methods. The proposed method demonstrates a very good performance for most of the images in the subjective test.

19 citations


Proceedings ArticleDOI
14 Sep 2013
TL;DR: This paper employs camera pose estimation method to directly generate stereoscopic 3D from 2D video without building depth map explicitly, and demonstrates that correspondence plane image stitching based on Homography matrix only cannot generate better result.
Abstract: In this paper, we propose a simple Anaglyph 3D stereo generation algorithm from 2D video sequence with monocular camera. In our novel approach we employ camera pose estimation method to directly generate stereoscopic 3D from 2D video without building depth map explicitly. Our cost effective method is suitable for arbitrary real-world video sequence and produces smooth results. We use image stitching based on plane correspondence using fundamental matrix. To this end we also demonstrate that correspondence plane image stitching based on Homography matrix only cannot generate better result. Furthermore, we utilize the structure from motion (with fundamental matrix) based reconstructed camera pose model to accomplish visual anaglyph 3D illusion. The proposed approach demonstrates a very good performance for most of the video sequences.

17 citations


Proceedings ArticleDOI
01 Aug 2013
TL;DR: The simulation shows that the stable extraction of embedded watermark is done from the synthesized anaglyph centre 3D image and depth image, and the embedded watermarks can be efficiently extracted despite any noise attack on a front image.
Abstract: In today's world, development in various field is attracting people for enhancing the technology. As a result of this scenario, now people are able to experience a 3D view of an image by using a combination of electronics & signal processing. The exposure of 3D technology is now way booming and the people show the enormous interest on 3D technology because it provides an immersive experience to the viewers. As 3D devices are being available, data hiding techniques for 3D images is also being implemented now. The depth image based rendering (DIBR) 3D image is one of the image based 3D data which consists of the center image and depth image, anaglyph 3D image being one of the type of centre image which is composed of left eye image, right eye image and the depth image. Watermarking i.e. content protection is done with the help of discrete wavelet transform (DWT) on anaglyph 3D images. To increase robustness of the proposed system, selection of row coefficient is necessary therefore we select certain coefficient sub blocks and group the coefficients rows based on properties of DIBR. The simulation shows that the stable extraction of embedded watermark is done from the synthesized anaglyph centre 3D image and depth image. The embedded watermark can be efficiently extracted despite any noise attack on a front image. The proposed scheme is applicable for any compression technique as well as on any type of image.

14 citations


Proceedings ArticleDOI
23 Jun 2013
TL;DR: This work proposes a technique to reconstruct the original color stereo pair given such an anaglyph, modified SIFT-Flow and uses it to initially match the different color channels across the two views, and propagates the anchor colors.
Abstract: An anaglyph is a single image created by selecting complementary colors from a stereo color pair, the user can perceive depth by viewing it through color-filtered glasses. We propose a technique to reconstruct the original color stereo pair given such an anaglyph. We modified SIFT-Flow and use it to initially match the different color channels across the two views. Our technique then iteratively refines the matches, selects the good matches (which defines the "anchor" colors), and propagates the anchor colors. We use a diffusion-based technique for the color propagation, and added a step to suppress unwanted colors. Results on a variety of inputs demonstrate the robustness of our technique. We also extended our method to anaglyph videos by using optic flow between time frames.

13 citations


Journal ArticleDOI
TL;DR: A simulation model is developed that allows the amount of printed anaglyph crosstalk to be estimated based on the spectral characteristics of the light source, paper, ink set, and anAGlyph glasses and finds a number of options that are likely to reduce crosStalk considerably.
Abstract: The anaglyph three-dimensional (3D) method is a widely used technique for presenting stereoscopic 3D images. Its primary advantages are that it will work on any full-color display and only requires that the user view the anaglyph image using a pair of anaglyph 3D glasses with usually one lens tinted red and the other lens tinted cyan. A common image quality problem of anaglyph 3D images is high levels of crosstalk-the incomplete isolation of the left and right image channels such that each eye sees a "ghost" of the opposite perspective view. In printed anaglyph images, the crosstalk levels are often very high-much higher than when anaglyph images are presented on emissive displays. The sources of crosstalk in printed anaglyph images are described and a simulation model is developed that allows the amount of printed anaglyph crosstalk to be estimated based on the spectral characteristics of the light source, paper, ink set, and anaglyph glasses. The model is validated using a visual crosstalk ranking test, which indicates good agreement. The model is then used to consider scenarios for the reduction of crosstalk in printed anaglyph systems and finds a number of options that are likely to reduce crosstalk considerably.

12 citations


Proceedings ArticleDOI
TL;DR: A novel method of stereoscopic imaging using SBDX is presented, in which two slightly offset projection-like images are reconstructed from the same scan data by utilizing raw data from two different detector regions, which could be implemented in real time to provide live 3D visualization and device guidance for cardiovascular interventions.
Abstract: Scanning Beam Digital X-ray (SBDX) is a low-dose inverse geometry fluoroscopic system for cardiac interventional procedures. The system performs x-ray tomosynthesis at multiple planes in each frame period and combines the tomosynthetic images into a projection-like composite image for fluoroscopic display. We present a novel method of stereoscopic imaging using SBDX, in which two slightly offset projection-like images are reconstructed from the same scan data by utilizing raw data from two different detector regions. To confirm the accuracy of the 3D information contained in the stereoscopic projections, a phantom of known geometry containing high contrast steel spheres was imaged, and the spheres were localized in 3D using a previously described stereoscopic localization method. After registering the localized spheres to the phantom geometry, the 3D residual RMS errors were between 0.81 and 1.93 mm, depending on the stereoscopic geometry. To demonstrate visualization capabilities, a cardiac RF ablation catheter was imaged with the tip oriented towards the detector. When viewed as a stereoscopic red/cyan anaglyph, the true orientation (towards vs. away) could be resolved, whereas the device orientation was ambiguous in conventional 2D projection images. This stereoscopic imaging method could be implemented in real time to provide live 3D visualization and device guidance for cardiovascular interventions using a single gantry and data acquired through normal, low-dose SBDX imaging.

7 citations


Patent
05 Jun 2013
TL;DR: In this article, a stereo image quality objective evaluation method based on a characteristic image is proposed. But the method is not suitable for the estimation of the image quality of stereo images.
Abstract: The invention discloses a stereo-image quality objective evaluation method based on a characteristic image. Parallax stereograms of an original and undistorted stereo-image and a distorted and to be evaluated stereo-image are respectively calculated, then by means of the minimum changing image which can be observed by eyes of a left eyepoint image of the distorted and to be evaluated stereo-image and a gradient of disparity image of an anaglyph between a left eyepoint image and a right eyepoint image of the original and undistorted stereo-image, a first structure similarity of the two parallax stereograms is calculated, and an objective evaluation value of the image quality of the distorted and to be evaluated stereo-image is obtained. The stereo-image quality objective evaluation method based on a characteristic image has the advantages that the obtained Parallax stereograms can well reflect the effects of different parallax on stereo-image quality, the structure similarity which is calculated and obtained according to the characteristic image can well reflect the changing conditions of stereo-image quality, the evaluation result is enabled to be more accord with a human visual system, and thereby the correlation of the objective evaluation result and the subjective perception is effectively improved.

6 citations


Proceedings ArticleDOI
TL;DR: Two methods to transmit a single encoded stream containing only required data to create anaglyph video from single-sensor camera pairs are proposed, achieving up to 4.66 dB improvement in terms of Composite Peak-to-Signal Noise Ratio (CPSNR).
Abstract: This paper presents two novel end-to-end stereo video compression pipelines consisting of single-sensor digital camera pairs, the legacy consumer-grade video decoders, and anaglyph displays. As 3D videos contain a large amount of data, efficient compression methods to distribute streams over the current communication infrastructure are highly required. In addition, low computation complexity algorithms to reconstruct the 3D scenes using the existing hardware are also preferred. We proposed two methods to transmit a single encoded stream containing only required data to create anaglyph video from single-sensor camera pairs. Our first proposed method packs and encodes only the required demosaicked color channels used in the anaglyph display in YCbCr 4:4:4 format, whereas the second proposed method repacks the color filter array stereo image pairs into the legacy video format YCbCr 4:2:0 mono and leaves the demosaicking operations at the decoder side. The experimental results demonstrate the superior performance of our proposed methods over the traditional one by achieving up to 4.66 dB improvement in terms of Composite Peak-to-Signal Noise Ratio (CPSNR).

2 citations


01 Sep 2013
TL;DR: In this article, a multi-beam acoustic camera with high resolution can be used as an identification sensor of an unmanned underwater robot in turbid underwater environment, however, the acoustic images do not allow depth perception.
Abstract: This paper describes post processing of high resolution acoustic images. A multi-beam acoustic camera with high resolution can be a substitute for typical optical systems as an identification sensor of an unmanned underwater robot in turbid underwater environment. The acoustic images do not allow depth perception, however. Anaglyph method was adopted to generate stereoscopic images and to provide depth perception. There are several ways to generate anaglyph images and, basically, two images are required for each eye. In this paper, how to operate the acoustic camera to get two images are proposed.

2 citations


Proceedings ArticleDOI
04 Sep 2013
TL;DR: A method to generate a 3D anaglyph image from a single 2D image and the depth map frame which are captured by Microsoft Kinect device and can be viewed using 3D glasses.
Abstract: This paper describes a method to generate a 3D anaglyph image from a single 2D image and the depth map frame which are captured by Microsoft Kinect device and can be viewed using 3D glasses. The contribution in this application is its ability to work in real-time as a 3D video stream. It is also useful while a user wants to interact with a digital space on a way look more natural.

Journal Article
TL;DR: In this article, the possibility of printing anaglyph images to textile was determined, and the effect of typical factors such as washing, rubbing and light on the maintaining of a tree-dimensional (3D) effect was investigated.
Abstract: Anaglyph images are a way of representing of spatial images on a flat surface. They are made with combining two images or two stereo pairs. The principle of anaglyph images is based on different colour of left and right images and colour filters (3D glasses), through which we perceive the image. The possibility of printing of anaglyph images to textile was determined in this study. Investigation on the influence of typical factors such as washing, rubbing and light on the maintaining of a tree-dimensional (3D) effect was done as well. Photos were taken with digital camera FujiFilm FinePix 3D W3 and rearranged into anaglyph images with a program Stereophoto maker. Anaglyph images were printed on cotton fabric using digital ink jet printing with reactive dyes. Normal steaming and afterwashing followed the printing. It was found out, that printing was successful and spatial effect was clearly visible. The fastness of digital prints was good, and consequently the printed fabric can be washed and worn and the stereo effect remained visible

Patent
05 Feb 2013
TL;DR: In this article, a system for efficiently generating device-dependent anaglyph images includes a display device for presenting a 3D image in a three-dimensional format and a conversion manager that interacts with system users to perform configuration procedures for generating images.
Abstract: A system for efficiently generating device-dependent anaglyph images includes a display device for presenting anaglyph images in a three-dimensional format. An anaglyph converter includes a conversion manager that interacts with system users to perform configuration procedures for generating anaglyph images. The configuration procedures are utilized to define one or more imaging parameters that are dependent upon imaging characteristics of said display device. The imaging parameters may include ghosting reduction parameters and color adjustment parameters. A processor device typically controls the conversion manager to perform the anaglyph image generation procedures.

Journal ArticleDOI
Hyun-Jong Kang1
20 Jun 2013
TL;DR: The study analyzes how to create stereoscopic image in 3D animation ‘Yggdrasil’, produced in Autodesk Maya(3D animation software), using Anaglyph method that is the oldest in 3-dimension stereoscopic video production.
Abstract: The study analyzes how to create stereoscopic image in 3-dimension animation ‘Yggdrasil’, produced in Autodesk Maya(3D animation software), using Anaglyph method that is the oldest in 3-dimension stereoscopic video production. The anaglyph method help to produce stereoscopic images easily and to give effective 3D effect encoding each eye's image using filters of different colors. In addition, space direction applied visual perception theory expresses necessary distance, depth and speed effectively in ‘Yggdrasil’ Keywords : 3-dimensional stereoscopic animation(3차원 입체영상), Computer Graphics Received: Mar. 29, 2013 Accepted: Jun. 12, 2013Corresponding Author: Hyun-Jong Kang(Yuhan College)E-mail: hkang@yuhan.ac.krISSN: 1598-4540 / eISSN: 2287-8211Ⓒ The Korea Game Society. All rights reserved. This is an open-access article distributed under the terms of the Creative Commons Attribution Non-Commercial License (http://creativecommons.otg/licenses/by-nc/3.0), which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.

Patent
30 Aug 2013
TL;DR: In this paper, a 3D playing device with an anaglyph image and a plurality of prearranged dots displayed on the playing surface is described, where the first image forms a background or a foreground for an image revealed by connecting the dots.
Abstract: A three dimensional (3D) playing device includes a playing surface; a first anaglyph image displayed on the playing surface, the anaglyph image including a first and a second superimposed color layers that have a predetermined lateral offset, the first color layer including a first color, the second color layer including a second color, the first and second colors are different from each other; a plurality of prearranged dots displayed on the playing surface; and indicia indicating a predetermined sequence to connect the dots. The first anaglyph image forms a background or a foreground for an image revealed by connecting the dots.

Proceedings ArticleDOI
21 Jul 2013
TL;DR: If an anaglyph image can be decomposed into its original left and right images, it can be used for compression as well as for conversion to other, more recent 3D viewing methods.
Abstract: Anaglyphs are the most primitive way of representing stereoscopic images. As one of the first attempts to produce 3D images, its viewing experience is not as satisfying as later methods but it is still widely used because of its simplicity and compactness. An anaglyph image is created by simply superimposing the red channel of the left image with blue and green channels of the right image. If an anaglyph image can be decomposed into its original left and right images, it can be used for compression as well as for conversion to other, more recent 3D viewing methods.

Journal ArticleDOI
TL;DR: This work proposes a method based on which a convergence point can be adjusted to prevent visual discomfort during zoom-in for a dual lens stereoscopic camera and implements the suggested methods with anaglyph computer graphic and demonstrates the superiority of them.
Abstract: Even though a dual lens stereoscopic camera allows for convenient stereoscopic photography, the necessity for the research comes up, since the dual lens stereoscopic camera can cause visual discomfort during zoom-in due to the fixed convergence point. We propose a method based on which a convergence point can be adjusted to prevent visual discomfort during zoom-in for a dual lens stereoscopic camera. First, the relational model is classified into nine kinds and defined, depending on locations of focus, object, and convergence point. And then, the method to minimize visual discomfort is suggested by adjusting convergence point on the given model. We also implement the suggested methods with anaglyph computer graphic and demonstrate the superiority of them.

Proceedings Article
11 Nov 2013
TL;DR: It states that three-dimensional content can be generated from two slightly different panoramic view of a scene with the strength of this thought lies in both the intrinsic movement parallax and single effective viewpoint that is associated with the panoramas.
Abstract: It states that three-dimensional content can be generated from two slightly different panoramic view of a scene. The strength of this thought lies in both the intrinsic movement parallax and single effective viewpoint that is associated with the panoramic view of a scene. These factors when effectively put together have the potential to provide pure perspective image. Three-dimensional effect in a single panoramic image is realized by superimposing a pair of panoramic view images. A special fascination of the resultant image is that depending on how the initial panoramic views are generated, the natural scenery and three-dimensional effect in the composed anaglyph panorama differs. A pair of anaglyph glasses would be used by a group of people to view the depth effect in the stereoscopic panorama.

Journal ArticleDOI
TL;DR: This work proposes a method based on which a convergence point can be adjusted to prevent visual discomfort during zoom-in for a dual lens stereoscopic camera and implements the suggested methods with anaglyph computer graphic and demonstrates the superiority of them.
Abstract: Even though a dual lens stereoscopic camera allows for convenient stereoscopic photography, the necessity for the research comes up, since the dual lens stereoscopic camera can cause visual discomfort during zoom-in due to the fixed convergence point. We propose a method based on which a convergence point can be adjusted to prevent visual discomfort during zoom-in for a dual lens stereoscopic camera. First, the relational model is classified into nine kinds and defined, depending on locations of focus, object, and convergence point. And then, the method to minimize visual discomfort is suggested by adjusting convergence point on the given model. We also implement the suggested methods with anaglyph computer graphic and demonstrate the superiority of them.

Proceedings ArticleDOI
26 May 2013
TL;DR: Modifications to the said approach to tackle several anaglyph issues, namely ghosting, retinal rivalry, and color reproduction, simultaneously are tackled.
Abstract: The anaglyph is a widely overlooked method of viewing three-dimensional images on any colored display. This is done by selectively filtering the image through colored lenses. Despite the simplicity of this system, the approach to designing anaglyph images remained largely empirical until a recent mathematical analysis by Eric Dubois. While the methods shown in the said work create good anaglyphs, they still exhibit a large amount of retinal rivalry which makes anaglyphs uncomfortable to view. This paper tackles modifications to the said approach to tackle several anaglyph issues, namely ghosting, retinal rivalry, and color reproduction, simultaneously. Subjective testing showed an improvement in viewer acceptance of images designed using the proposed method.

01 Jan 2013
TL;DR: This study allows users to enjoy 3D images on 2D media viewer by using Stereoscopic Anaglyph method.
Abstract: The development of technology keeps growing sophisticated now, marked with the invention of television which is able to produce 3-dimensional (3D) images. However, not all people can afford the sophistication of 3D television technology since the price is very high. This study allows users to enjoy 3D images on 2D media viewer by using Stereoscopic Anaglyph method.

Proceedings ArticleDOI
TL;DR: In this article, the Fourier transform is used to evaluate the topography of an object, and a computational algorithm is developed to evaluate and visualize the object in real time, in order to make an association of real color and texture, it is necessary to calibrate and profile the optical devices involved in the process.
Abstract: The structured light technique is useful to evaluate the topography of an object. By using the Fourier transform, the phase of a fringe pattern is obtained from a single image. With the phase information and the sensibility vector of the optical system, the value z(x, y) at each point of the object can be determined. It is known that color is a subjective sensation, and it changes depending on the observer. In order to make an association of real color and texture, it is necessary to calibrate and profile the optical devices involved in the process. Thus, we ensure that the color detected by a camera is the same displayed on the monitor and perceived by the observer, so it is possible to associate the color of the target object in addition to the evaluation of topography. On the other hand, 3D visualization is possible by using a stereoscopic system that provides two different images of the same object (one for each eye). One possible technique is that known as the anaglyph method, based on the binocular disparity of two images obtained with different color filters. Each one of the images is taken with complementary colors (red-blue or red-green), and the tri-dimensional shape can be seen through the use of special glasses; this way, each eye sees an image from its own angle. Object topography is obtained with the fringe projection technique, and then one image is selected and pseudo colored; then, the second image is taken, slightly changing the perspective of the tridimensional display and pseudo coloring it with a complimentary color. A computational algorithm is developed to evaluate and visualize the object in real time.

Proceedings ArticleDOI
19 Jul 2013
TL;DR: Experimental results show that the novel approach to reduce ghosting in anaglyph not only successfully reduces ghosting but also produces images that appear almost ordinary to the naked eye which improves the backward-compatibility of anAGlyph.
Abstract: Anaglyph stereo provides a portable and inexpensive way to view stereoscopic images. Rendering anaglyph, however, often suffers from ghosting which results from the viewer’s one eye receiving a weaker version of the image aimed for the other eye. In this paper, we present a novel approach to reduce ghosting in anaglyph that does not rely on power spectra of a monitor or on transmission spectra of anaglyph glasses. First, we measure the ghosting effect by the red lightness difference between a stereo pair and visual saliency estimate. Then, we formulate ghosting reduction as an energy minimization problem, which can be efficiently solved using a standard linear solver. Experimental results show that our method not only successfully reduces ghosting in anaglyph but also produces images that appear almost ordinary to the naked eye which improves the backward-compatibility of anaglyph.

Proceedings ArticleDOI
01 Oct 2013
TL;DR: This is the first experiment attempted to generate stereo form holoscopic content on motion capturing, where researchers so far have been experimenting on still images.
Abstract: In this paper a single aperture motion picture camera based on holoscopic imaging used to generate high-resolution stereoscopic image. The idea of single aperture camera reduces the very cumbersome and expensive of dual cameras in stereoscopic production. The camera is known as light field camera, which was first proposed in 1908 by lippmann [1]. The rendering method relied on upsampling, shift and integrating of different views to extract stereo images. This is the first experiment attempted to generate stereo form holoscopic content on motion capturing, where researchers so far have been experimenting on still images. In this paper presents motion picture image rendering on holoscopic content to generate content for stereoscopic systems. We have carried out experiments with focused ploneptic camera on a single stage omnidirectional integral camera arrangement with capturing both horizontal and vertical parallax, using a low cost lens array and relay lens. Our results show an improvement in the resolution of images with artifact free and also the rendered stereo content are played back on polarized stereoscopic system and anaglyph system to perceive the 3D depth using filter glasses in our experimental section.

Book ChapterDOI
01 Jan 2013
TL;DR: A technique that allows generating anaglyphs with colors adapted to given glasses and printer colors by means of special color pattern analysis is proposed, which contains fewer artifacts and look better in comparison to anagleyphs without adaptation, which are generated in existing software applications.
Abstract: Nowadays stereophotography is rapidly developing, providing a plenty of sources for stereoimages The goal of current technology --- to provide users with possibility to get high quality 3D anaglyph prints for education and entertainment To do so it is necessary to agree color characteristics of glasses and printed colors, since errors in color transmission lead to cross-talk interference and ghosting effects There is no easy way for user to adjust colors of anaglyph in order to coordinate characteristics of glasses and printer We propose a technique that allows generating anaglyphs with colors adapted to given glasses and printer colors by means of special color pattern analysis In addition, our approach takes into account the size of the printed anaglyph image Resulting printed images have a good quality that is confirmed by user opinion survey The images contain fewer artifacts and look better in comparison to anaglyphs without adaptation, which are generated in existing software applications The technique utilizes a low amount of memory and has low computational complexity

Journal ArticleDOI
Meng Wang1, Jian Sheng Chen1, Chang Yang1, Ke Ming Cao1, Guang Da Su1 
TL;DR: A processing framework for making anaglyph 3D image is proposed using the light field camera, which can be exploited as a computational stereo rig, to capture image pairs simultaneously.
Abstract: Anaglyph 3D is a low-cost and popular 3D display method, made out of a photo pair. With only one common camera, however, there are difficulties in capturing moving objects. We suggest using the light field camera, which can be exploited as a computational stereo rig, to capture image pairs simultaneously. A processing framework for making anaglyph 3D image is then proposed. The effectiveness of our proposal is verified visually by experiments.

01 Jan 2013
TL;DR: In this paper, a new and automatic technique to estimate the anaglyph stereo image from the depth image is presented. This technique is based on new image registration based on the point matching feature extraction from the input image using matching points technique.
Abstract: The proposed paper presents the new and automatic technique to estimate the anaglyph stereo image from the depth image. We introduce the new algorithm Random Sample Consensus (RSANSAC) to generate the 3d anaglyph image. This technique is based on new image registration based on the point matching feature extraction from the input image using matching points technique. Corresponding between points image extraction from the different images is establish using RANSAC method. The initial corresponding is establish using enumerative search with rotation invariant cross-correlation measure, based on the estimated corresponding set of inliers points to overlapping image area. Ransac method down-projects the plane filtered points on to 2D, and assigns correspondences for each point to lines on the 2D map. The full sampled point cloud is processed for obstacle avoidance for autonomous navigation. Hence, a natural choice is to extract geometric features from the point cloud, and process these features instead of the raw point clouds. The task of geometric feature extraction itself is challenging due to noisy sensing, geometric outliers and real-time constraints. Random Sample Consensus (RANSAC) as belonging to planes in 3D. The plane filtered points are then converted to a set of convex polygons in 3D which represent the planes detected in the scene. The detected convex polygons are then merged across successive depth images to generate a set of scene polygons and construct the depth image to stereo image.