Carnegie Mellon University
A Multiple-baseline Stereo Method

Takeo Kanade, M. Okutomi, and T. Nakahara
Proceedings of the 1992 DARPA Image Understanding Workshop, January, 1992.

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This paper presents a stereo matching method which uses multiple stereo pairs with various baselines to obtain precise distance estimates without suffering from ambiguity. In stereo processing. a short baseline means that the estimated distance will be less precise due to narrow triangulation. For more precise distance estimation. a longer baseline is desired. With a longer baseline. however. a larger disparity range must be searched to find a march. As a result, matching is more difficult and there is a greater possibiliry of a false match. So there is a trade-off beween precision and accuracy in matching. The stereo matching method presented in this paper uses multiple stereo pairs with different baselines generated by a lateral displacement of a camera. Matching is performed simply by computing the sum of squared-difference (SSD) values. The SSD functions for individual stereo pairs are represented with respect to the inverse distance (rather than the disparity as is usually done), and then are simply added to produce rhe sum of SSDs. This resulting function is called the SSSD-in-inverse-distance. We show that the SSSD-in-inverse-distance function exhibits a unique and clear minimum at the correct matching position even when the underlying inrensity patterns of the scene include ambiguities or repetitive patterns. An advantage of this method is that we can eliminate false marthes and increase precision without any search or sequential filtering. This paper first defines a stereo algorithm based on the SSSD-in-inverse-distance and presents a marhemarical analysis to show how the algorithm can remove ambiguity and increase precision. Then, a few experimental results with real stereo images are presented to demonstrate the effectiveness of the algorithm.

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Text Reference
Takeo Kanade, M. Okutomi, and T. Nakahara, "A Multiple-baseline Stereo Method," Proceedings of the 1992 DARPA Image Understanding Workshop, January, 1992.

BibTeX Reference
   author = "Takeo Kanade and M. Okutomi and T. Nakahara",
   title = "A Multiple-baseline Stereo Method",
   booktitle = "Proceedings of the 1992 DARPA Image Understanding Workshop",
   month = "January",
   year = "1992",