Wide baseline dynamic stereo: approximation and refinement

Stereo algorithms using a wide baseline must cope with a large search space on top of the problems due to noise. A single pair of images is not a reliable source of depth information. One solution is to integrate the information from several image pairs. By incrementally refining estimates of the depth as the camera changes position, it is possible to build a description of the scene which, in turn, can be used as feedback to improve the extraction of depth information. The authors have developed a stereo algorithm based on correlation matching that is especially suited to being integrated into a proposed feedback loop. They have begun experiments with the integration of depth information over a sequence into a single environmental map