Integration of overlapping maps made by stereo vision using view field information

We propose a new method for combining two overlapping maps made by the stereo vision technique utilizing view field information. Degree of matching is evaluated for every matching candidate, where object point pairs and solitary points in the overlapping view fields contribute positive and negative values, respectively. The threshold value used in judging pair is determined by considering the error magnitude, which depends on the distance from the view point. Various kinds of calculation are compared in terms of the freedom of threshold, which is defined as the ratio of the maximum and minimum threshold values, and with which the correct overlap is derived