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Stereo feature matching in disparity space

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1 Author(s)
Braunegg, D.J. ; Artificial Intelligence Lab., MIT, Cambridge, MA, USA

A method is presented for matching, validating, and disambiguating features for stereo vision. It is based on the stereo matching algorithm of D. Marr and T. Poggio (1979) and W.E.L. Grimson (1981, 1985), which uses zero-crossing contours in difference-of-Gaussian filtered images as features. The matched contours are represented in disparity space, which makes the information needed for matched contour validation and disambiguation easily accessible. The use of disparity space also makes the algorithm conceptually cleaner than previous implementations of the Marr-Poggio-Grimson algorithm and yields a more efficient matching process

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990