Experiments in Multiple-Baseline Stereo
CARNEGIE-MELLON UNIV PITTSBURGH PA SCHOOL OF COMPUTER SCIENCE
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This paper presents the results of our experiments with a unique multiple-baseline stereo technique. This algorithm for producing precise, unambiguous depth maps from a set of multiple stereo pairs was developed by Okutomi and Kanade. Early versions of the algorithm were shown to perform well under controlled conditions in the Calibrated Imaging Laboratory CIL. in this paper, the algorithm is further applied to complex outdoor scenes with variable lighting conditions and large depth ranges. While Okutomi and Kanade used stereo pairs acquired by moving a camera horizontally, we also investigated the use of stereo pairs taken by moving a camera in both horizontal and vertical directions. The use of stereo images with two orthogonal baseline orientations removes ambiguity and increases precision without the problems associated with the orientation of the features in a scene. We also show that the shapes of the sum of squared-difference SSD curve indicates the reliability of the match, and suggest a method to classify matches into various types and to improve estimates when a false match occurs. Finally, results are presented to show the effectiveness of this algorithm and the classification method.
- Cartography and Aerial Photography