A Multiple-Baseline Stereo

M. Okutomi and Takeo Kanade
IEEE Trans. on Pattern Analysis and Machine Intelligence, Vol. 15, No. 4, April, 1993, pp. 353-363.

  • Adobe portable document format (pdf) (1MB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

A stereo matching method that uses multiple stereo pairs with various baselines generated by a lateral displacement of a camera to obtain precise distance estimates without suffering from ambiguity is presented. 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 and are then added to produce the sum of SSDs. This resulting function is called the SSSD-in-inverse-distance. It is shown that the SSSD-in-inverse-distance function exhibits a unique and clear minimum at the correct matching position, even when the underlying intensity patterns of the scene include ambiguities or repetitive patterns. The authors first define a stereo algorithm based on the SSSD-in-inverse-distance and present a mathematical analysis to show how the algorithm can remove ambiguity and increase precision. 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
M. Okutomi and Takeo Kanade, "A Multiple-Baseline Stereo," IEEE Trans. on Pattern Analysis and Machine Intelligence, Vol. 15, No. 4, April, 1993, pp. 353-363.

BibTeX Reference
   author = "M. Okutomi and Takeo Kanade",
   title = "A Multiple-Baseline Stereo",
   journal = "IEEE Trans. on Pattern Analysis and Machine Intelligence",
   pages = "353-363",
   month = "April",
   year = "1993",
   volume = "15",
   number = "4",