Dynamic Stereo with Self-Calibration

Authors:
Arun P. Tirumalai;Brian G. Schunck;Ramesh C. Jain
Affiliations:
-;-;-
Venue:
IEEE Transactions on Pattern Analysis and Machine Intelligence
Year:
1992

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Abstract

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.