This paper proposes a discrete wavelet-based stereo matching technique. A discrete wavelet transform is first applied to a pair of stereo images to decorrelate the images into a number of approximations. Information in the basebands is less sensitive to shift variability of the wavelet transform. A self-adapting dissimilarity measure is employed to generate a disparity map of the stereo pairs. ...

The current work addresses the problem of 3D model tracking in the context of monocular and stereo omnidirectional vision in order to estimate the camera pose. To this end, we track 3D objects modeled by line segments because the straight line feature is often used to model the environment. Indeed, we are interested in mobile robot navigation using omnidirectional vision in structured environme...

Epipolar resampling aims to eliminate the vertical parallax of stereo images. Due to the dynamic nature of the exterior orientation parameters of linear pushbroom satellite imagery and the complexity of reconstructing the epipolar geometry using rigorous sensor models, so far, no epipolar resampling approach has been proposed based on these models. In this paper for the first time it is shown t...

This work presents an implementation of a hierarchical disparity estimation algorithm entirely executed on programmable 3D graphics hardware. In contrast to previous hardware based implementations of computational stereo algorithms, our method calculates disparities either for rectified stereo images or uncalibrated pairs of stereo images without known epipolar geometry. We exploit features of ...

We present a new projective invariant-based technique for recovering depth information from stereo images. The basic idea of our method is to use intensity segments as primitives for stereo matching. To recover the depth information of intensity segments, two projective invariants are introduced. From the two invariants, we can derive a relation that should be satisfied between the matching pai...

Creating a 3D model from photos require an estimate of the position and orientation (pose) of the camera for each photo that is acquired. This paper presents a method to estimate the camera pose using only image data. The images are acquired at a low frequency using a stereo rig, consisting of two rigidly attached SLR cameras. Features are extracted and an optimization problem is solved for eac...

In this paper we present an evaluation method for stereo matching systems and sensors especially for real world indoor applications. We estimate ground truth reference images by illuminating scenes with structured light. The paper starts with the selection of appropriate scenes, goes over ground truth estimation to the finally resulting evaluation of the stereo sensors. Three different stereo v...