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Dynamic stereo with self-calibration

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3 Author(s)
A. P. Tirumalai ; Dept. of Comput. Sci., South Carolina Univ., Columbia, SC, USA ; B. G. Schunck ; R. C. Jain

An approach for incremental refinement of disparity maps obtained from a dynamic stereo sequence of a static scene is presented. The approach has been implemented using a binocular stereo vision system mounted on a mobile robot. A robust least median of squares based algorithm is given for recovering the camera motion between successive viewpoints, which provides a self-calibration mechanism. The recovered motion is utilized for recursive disparity prediction and refinement using a robust Kalman filter model

Published in:

IEEE Transactions on Pattern Analysis and Machine Intelligence  (Volume:14 ,  Issue: 12 )