Recovering a boundary-level structural description from dynamic stereo

The authors present a stereo algorithm to recursively compute a boundary-level structural description of a scene, from a sequence of stereo images. This algorithm utilizes connected line segments as the basic match primitive, which yields a description composed primary of boundaries of objects in the scene. A description of this nature is very useful for obstacle avoidance and path planning for mobile robots. The stereo matching algorithm is integrated into a dynamic stereo vision system to compute and incrementally refine such a structural description recursively, using belief functions. The approach is illustrated with a real dynamic stereo sequence acquired from a mobile robot