A multiple-baseline stereo
Okutomi, M.
Kanade, T.
Canon Inc., Kawasaki;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: Apr 1993
Volume: 15,
Issue: 4
On page(s): 353-363
ISSN: 0162-8828
References Cited: 18
CODEN: ITPIDJ
INSPEC Accession Number: 4414401
Digital Object Identifier: 10.1109/34.206955
Current Version Published: 2002-08-06
Abstract
A stereo matching method that uses multiple stereo pairs with
various baselines generated by a lateral displacement of a camera to
obtain precise distance estimates without suffering from ambiguity is
presented. Matching is performed simply by computing the sum of
squared-difference (SSD) values. The SSD functions for individual stereo
pairs are represented with respect to the inverse distance and are then
added to produce the sum of SSDs. This resulting function is called the
SSSD-in-inverse-distance. It is shown that the SSSD-in-inverse-distance
function exhibits a unique and clear minimum at the correct matching
position, even when the underlying intensity patterns of the scene
include ambiguities or repetitive patterns. The authors first define a
stereo algorithm based on the SSSD-in-inverse-distance and present a
mathematical analysis to show how the algorithm can remove ambiguity and
increase precision. Experimental results with real stereo images are
presented to demonstrate the effectiveness of the algorithm
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