Planarity constraint in stereo matching

Stereo problems regarding range resolution, the output available for higher-level postprocessing, and the so-called correspondence problem are discussed. To solve the problems, it is proposed to use boundary segments of regions as units for correspondence between a pair of stereo images. Not only the features of regions and segments themselves, but also the high connectivity of segments can be used as strong constraints for correspondence. A planarity constraint is introduced for segments on planar surfaces. Since the output form is a boundary representation, the most general solid model, it can be used directly as the input to an object recognition system without any preprocessing