A new multilevel line-based stereo vision algorithm based on fuzzy techniques

This paper presents a multilevel algorithm for straight line extraction and matching from stereo intensity images based on fuzzy strategies. The ultimate goal of our work is to find 3D landmarks represented in the form of straight lines. In this method line extracting not only uses the information of current level but also considers the lines extracted at the coarser level. The idea as similar to multi-scale edge focusing, except that a fuzzy evaluation procedure is carried out to control the quality of a line candidate. This paper also proposes a new matching strategy based on fuzzy-sets, where various matching constraints can be effectively combined and some matching information from the coarser level is also considered. This method needs only one-step matching and avoids inadequate overstrong constraints, so that reliable unique line matches can be achieved with a relatively small cost