Binocular Stereo in the Presence of Specular Re ectionDinkar

We address the problem of accurate depth estimation using stereo in the presence of specular reeec-tion. Specular reeection is viewpoint dependent and can cause large intensity diierences at corresponding points in stereo images. Hence, mismatches could result causing signiicant depth errors. Our approach seeks to determine a scene independent optimal stereo connguration such that intensity mismatches are limited and depth resolution is maximized, simultaneously. A key feature of this approach is we do not seek to eliminate or avoid specular reeection, but rather minimize its eeects on stereo matching. The scheme is general as it is not restricted to speciic reeectance models or image correspondence schemes. Experiments on real surfaces connrms its viability.