Abstract: per proposes a method of implementing stereovision in existing mobile robot perception systems without having to solve the classical stereo correspondence problem. The proposed method makes use of the fact that tracking of features is an easier task than performing stereo correspondence. A two-view motion stereo system is implemented in which the correspondence between two cameras is found by temporal stereo tracking. The algorithm assumes an initial stereo match of homologous features seen in the two cameras but subsequently the algorithm reliably tracks each feature by use of accurate odometric information, and accurate 3-D information can be derived from each matched feature. The derived set of 3-D data (of points, lines, and regions) are then fed to a fast surface reconstruction algorithm for later stage interpretation. The proposed scheme can be added to existing mobile robot road following systems at little added cost. !16
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