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Proceedings Paper

Multibaseline stereo system for evaluation of binocular stereo
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Paper Abstract

Binocular, correlation based stereo has been a key component in many efforts at autonomous vehicle navigation. However, estimation of ground truth range data, especially in field conditions, remains a challenge. We present a 5 camera, multibaseline stereo system and demonstrate its use as a passive ground truthing mechanism for binocular stereo. In this paper, we provide both a system description and a detailed overview of a novel depth-based multibaseline stereo algorithm. Our new algorithm avoids the need for pairwise camera rectification. We conclude with several simulations and real world experiments to verify our results.

Paper Details

Date Published: 30 September 2003
PDF: 10 pages
Proc. SPIE 5083, Unmanned Ground Vehicle Technology V, (30 September 2003); doi: 10.1117/12.487040
Show Author Affiliations
Adnan I Ansar, Jet Propulsion Lab. (United States)
Larry Henry Matthies, Jet Propulsion Lab. (United States)

Published in SPIE Proceedings Vol. 5083:
Unmanned Ground Vehicle Technology V
Grant R. Gerhart; Charles M. Shoemaker; Douglas W. Gage, Editor(s)

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