Multibaseline stereo system for evaluation of binocular stereo

Adnan I Ansar; Larry Henry Matthies

doi:10.1117/12.487040

30 September 2003 Multibaseline stereo system for evaluation of binocular stereo

Adnan I Ansar, Larry Henry Matthies

Proceedings Volume 5083, Unmanned Ground Vehicle Technology V; (2003) https://doi.org/10.1117/12.487040
Event: AeroSense 2003, 2003, Orlando, Florida, United States

Abstract

Binocular, correlation based stereo has been a key component in many efforts at autonomous vehicle navigation. However, estimation of ground truth range data, especially in field conditions, remains a challenge. We present a 5 camera, multibaseline stereo system and demonstrate its use as a passive ground truthing mechanism for binocular stereo. In this paper, we provide both a system description and a detailed overview of a novel depth-based multibaseline stereo algorithm. Our new algorithm avoids the need for pairwise camera rectification. We conclude with several simulations and real world experiments to verify our results.

Citation Download Citation

Adnan I Ansar and Larry Henry Matthies "Multibaseline stereo system for evaluation of binocular stereo", Proc. SPIE 5083, Unmanned Ground Vehicle Technology V, (30 September 2003); https://doi.org/10.1117/12.487040

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