Stereo Matching for Calibrated Cameras without Correspondence

Helmke, U; Hüper, K; Vences, L

doi:10.1109/CDC.2008.4738620

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Stereo Matching for Calibrated Cameras without Correspondence

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Hüper, K
Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

Helmke, U., Hüper, K., & Vences, L. (2008). Stereo Matching for Calibrated Cameras without Correspondence. In 2008 47th IEEE Conference on Decision and Control (pp. 2408-2413). Piscataway, NJ, USA: IEEE.

Cite as: https://hdl.handle.net/11858/00-001M-0000-0013-C63D-F

Abstract

We study the stereo matching problem for reconstruction of the location of 3D-points on an unknown surface patch from two calibrated identical cameras without using any a priori information about the pointwise correspondences. We assume that camera parameters and the pose between the cameras are known. Our approach follows earlier work for coplanar cameras where a gradient flow algorithm was proposed to match associated Gramians. Here we extend this method by allowing arbitrary poses for the cameras. We introduce an intrinsic Riemannian Newton algorithm that achieves local quadratic convergence rates. A closed form solution is presented, too. The efficiency of both algorithms is demonstrated by numerical experiments.