Multi-image matching for a general motion stereo camera model

The aim of motion stereo is to extract the 3-D information of an object from images of a moving camera using the geometric relationships between corresponding points. This paper presents an accurate and robust motion stereo algorithm employing multiple images, taken under a general motion. The object functions for individual stereo pairs are represented, with respect to the distance, then these object functions are integrated considering the position of cameras and the shape of the object functions. By integrating the general motion stereo images, we not only reduce the ambiguities in correspondence, but also improve the precision of the reconstruction. Also by introducing an adaptive window technique, we can alleviate the effect of projective distortion in matching features and improve the accuracy greatly. Experimental results on a synthetic and real data set are presented to demonstrate the performance of the proposed algorithm.