Efficient Depth Estimation Using Trinocular Stereo

Charles Hansen; Nicholas Ayache; Francis Lustman

doi:10.1117/12.948922

5 January 1989 Efficient Depth Estimation Using Trinocular Stereo

Charles Hansen, Nicholas Ayache, Francis Lustman

Author Affiliations +

Proceedings Volume 1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation; (1989) https://doi.org/10.1117/12.948922
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

We present recent advancements in our passive trinocular stereo system. These include a technique for calibrating and rectifying in a very efficient and simple manner the triplets of images taken for trinocular stereovision systems. After the rectification of images, epipolar lines are parallel to the axes of the image coordinate frames. Therefore, potential matches between the three images satisfy simpler relations, allowing for a less complicated and more efficient matching algorithm. We also describe a more robust and general control strategy now employed in our trinocular stereo system. We have also developed an innovative method for the recon-struction of 3-D segments which provides better results and a new validation technique based on the observation that neighbors in the image should be neighbors in space. Experiments are presented demonstrating these advancements.

Citation Download Citation

Charles Hansen, Nicholas Ayache, and Francis Lustman "Efficient Depth Estimation Using Trinocular Stereo", Proc. SPIE 1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation, (5 January 1989); https://doi.org/10.1117/12.948922

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