Abstract
The author analyzes a stereo method which determines lines in
space from the intersection of projected planar sheets. Object
descriptions are built from information about linear features instead of
by points. It is shown that there are major advantages to accurately
determining the orientation of object lines and surfaces using this
stereo method. In the absence of errors (apart from the baseline
translation error), the measurement of the orientation of lines and
surfaces from this stereo method is translation-invariant in the sense
that the orientation measurement is completely independent of knowledge
of the baseline. Computer simulations of realistic imaging
configurations show that, even in the presence of errors from other
camera parameters, this stereo method is nearly translation-invariant
and can far outperform stereo methods based on the absolute
correspondence of points. Another advantage of determining the
orientation of lines and surfaces from stereo using intersecting planes
is that orientation errors do not grow rapidly as the object distance
from the baseline increases
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