Error Analysis of a Real-Time Stereo Syste

Correlation-based real-time stereo systems have been proven to be effective in applications such as robot navigation, elevation map building etc. This paper provides an in-depth analysis of the major error sources for such a real-time stereo system in the context of the cross-country navigation of an autonomous vehicle. Three major types of errors: foreshortening error, misalignment error and systematic error, are identified. The combined disparity errors can easily exceed three-tenth’s of a pixel, which translates to a significant amount of range errors. Upon understanding these error sources, we demonstrate diflerent approaches to either correct them or model their magnitudes without excessive additional computations. By correcting those errors, we show that the precision of the stereo algorithm can be improved by 50%.