Abstract
A computational framework for an accurate, robust, and efficient
stereo approach is developed. Most of the deficiencies prevailing in
current computational models of stereo can be attributed to their use of
a single, typically edge-element-based, primitive for stereo analysis
and to their use of a single-level control strategy. The multi-primitive
hierarchical (MPH) framework for stereo analysis presented is directed
toward overcoming these deficiencies. In the MPH model, stereo analysis
is performed in multiple stages, incorporating multiple primitives and
utilizing a hierarchical control strategy. The higher levels of the
hierarchical system are based on primitives containing more semantic
information, and the results of stereo analysis at higher levels are
used for guidance at the lower levels. It is shown that such a stereo
system is superior to a single-level, single-primitive system
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