Stereo correspondence is a computationally intensive procedure, real-time depth map generation for high resolution video is beyond the capability of mainstream CPUs available today. Similar to many other vision algorithms, there is a high degree of parallelism available in most of the correspondence algorithms, making multiprocessor architectures as an obvious choice. Here we describe the imple...

The limitations of estimating structure from either stereo or motion alone can be addressed by the use of stereo image sequences; however, many existing techniques for processing stereo sequences rely on having accurate feature correspondences initially. In this paper, we present an iterative feature matching and shape reconstruction algorithm. The proposed method simultaneously resolves matchi...

Abstract : A novel algorithm for head−tracking based on stereo is presented in this paper. Employing stereo vision makes the tracker robust to many factors such as clutter, color and lighting variations, that affect contemporary head trackers. The head is modeled as an ellipse and tracking is performed on the foreground obtained by modeling depth. This is facilitated by using stereo vision. Fur...

This paper addresses the problem of recovering accurate 3D geometry from a 4 degree of freedom stereo robot head. We argue that successful implementation of stereo vision in a real world application will require a self tuning system. This paper describes a statistical framework for the combination of many sources of information for the calibration of a stereo camera system which would allow con...

In this paper, a method is proposed for building occupancy grid based maps from sequences of stereo images in real time. The stereo camera can move and rotate unconstrained in three dimensions. This distinguishes the method from all other mapping approaches, which constrain the sensor to move in two dimensions. This freedom of motion allows to perform mapping in many new application areas. Addi...

Real-time stereo matching is necessary for many practical applications, including robotics. There are already many real-time stereo systems, but they typically use local approaches that cause object boundaries to be blurred and small objects to be removed. We have selected the Semi-Global Matching (SGM) method for implementation on graphics hardware, because it can compete with the currently be...

Vision systems require fundamental algorithms of image processing and vision computing. Algorithms of edge detection, grouping and stereo disparity detection are typical examples. Marr and his collaborators proposed several effective algorithms of edge detection and stereo disparity detection, in particular, in a computational approach (Marr, 1982). Marr and Hildreth had previously proposed an ...

A novel hierarchical stereo matching algorithm is presented which gives disparity map as output from illumination variant stereo pair. Illumination difference between two stereo images can lead to undesirable output. Stereo image pair often experience illumination variations due to many factors like real and practical situation, spatially and temporally separated camera positions, environmental...

OBJECTIVES There has been continuous development in the area of stereoscopic medical imaging devices, and many stereoscopic imaging devices have been realized and applied in the medical field. In this article, we review past and current trends pertaining to the application stereo-imaging technologies in the medical field. METHODS We describe the basic principles of stereo vision and visual is...

In this paper, we describe a probabilistic voxel mapping algorithm using an adaptive confidence measure of stereo matching. Most of the 3D mapping algorithms based on stereo matching usually generate a map formed by point cloud. There are many reconstruction errors. The reconstruction errors are due to stereo reconstruction error factors such as calibration errors, stereo matching errors, and t...