스테레오 카메라의 미소 병진운동을 이용한 3차원 거리추출 알고리즘

3D Range Finding Algorithm Using Small Translational Movement of Stereo Camera

In this paper, we propose a 3-D range finding method for situation that stereo camera has small translational motion. Binocular stereo generally tends to produce stereo correspondence errors and needs huge amount of computation. The former drawback is because the additional constraints to regularize the correspondence problem are not always true for every scene. The latter drawback is because they use either correlation or optimization to find correct disparity. We present a method which overcomes these drawbacks by moving the stereo camera actively. The method utilized a motion parallax acquired by monocular motion stereo to restrict the search range of binocular disparity. Using only the uniqueness of disparity makes it possible to find reliable binocular disparity. Experimental results with real scene are presented to demonstrate the effectiveness of this method.