A Robust Multiple-Baseline Stereo Algorithm for Solving Multiple Local Minima

摘要

PURPOSE: A robust multiple baseline stereo(RMBS) algorithm for solving multiple local minima is provided to solve multiple local minima without the performance of an interpolation when determining a unique matching from images obtained from several cameras. CONSTITUTION: Each of values obtained from each stereo image pair is averaged, and a disparity is calculated. An adaptive window is used for solving multiple local minima occurred in a part of region of an image having a uniform pattern or an inconsistent illumination. A size of the adaptive window is increased when the multiple local minima is not occurred.