Relative Orientation Of Two Disparity Maps In Stereo Vision

Two methods to solve the relative orientation of two disparity maps measured by a movable stereo head from distinct viewpoints are presented. The first method is based on modeled features such as plane normals, axes of cones and cylinders, and vertices of cones. In the second method, the first disparity map is projected onto the second one and the difference between the projected and the second map is minimized. The methods are tested with synthetic data. 1. INTRODUCTION Stereo vision is concerned with recovering depth from two images taken from different viewpoints. The depth information is obtained as disparity between corresponding points in the rectified left and right image. Determining disparity for every pixel in the rectified left image results in a disparity map which contains information about the object space visible to the current location of the camera pair, i.e., the stereo head. When considering an industrial close-range application where one wants to measure an object ..