The integration of information from stereo and multiple shape-from-texture cues

An approach is described that integrates multiple visual sensing methodologies that yield three-dimensional information. The current system integrates feature-based stereo algorithms with various shape-from-texture algorithms. Unlike most systems for multisensor integration, that fuse all the information at one conceptual level, e.g., the surface level, the system under development uses two levels of data fusion: intraprocess integration and interprocess integration. Intraprocess integration techniques for feature-based stereo and shape-from-texture algorithms are briefly discussed. The authors also discuss an interprocess integration technique for fusing feature-based stereo and shape-from-texture based on smooth models of surfaces. Examples are presented using camera-acquired images