New Development of Stereo Vision: A Solution of Motion Stereo Correspondence

This paper presents a new constraint, ie., projective transformation constraint, to solve the di cult problem of motion stereo correspondence in the context where the motion is dominated by rotation (for instance, 10 degrees of rotation with 1 cm of translation). Our observation here is that two consecutive images can be related to each other by a 2D projective transformation. Its coe cients are constants if the motion is a pure rotation (no use for depth recovery but helpful for 3D data fusion with rotating binocular vision and for active vision involving verging motion). The solution presented in this paper constitutes a closed form solution to motion stereo correspondence if the motion is a rotation or a quasi closed form solution if the motion is dominated by rotation (including translation needed for depth recovery). Experiments with real camera and real images prove the usefulness of the new constraint.