A specialized multibaseline stereo technique for obstacle detection

This paper presents a multibaseline stereo technique specially suited to detecting obstacles. A method is described for weakly calibrating a set of multibaseline stereo cameras with high accuracy. This method is then used to tailor the stereo search space to the special case where the world in front of the cameras consists mainly of nearly horizontal planar surfaces (the ground), where we are interested in deviations from those planar surfaces (obstacles). The resulting disparity maps are presented and compared to the output of a traditional stereo algorithm