Real-Time 3D Environment Reconstruction Using High Precision Trinocular Stereovision

This paper presents an implementation of a 3D environment reconstruction system, using trinocular (3 camera) stereovision. The system does not use rectification, in order to improve precision. Sub-pixel accuracy correlation is used. Feature extraction and correlation use MMX and SSE2 optimizations. Reconstruction correctitude tests were conducted using both synthetically generated images and camera acquired images