Reliability of 3-D Reconstruction by Stereo Vision

Yasushi KANAZAWA  Kenichi KANATANI  

IEICE TRANSACTIONS on Information and Systems   Vol.E78-D   No.10   pp.1301-1306
Publication Date: 1995/10/25
Online ISSN: 
Print ISSN: 0916-8532
Type of Manuscript: PAPER
Category: Image Processing, Computer Graphics and Pattern Recognition
stereo vision,  reliability of 3-D reconstruction,  model of image noise,  epipolar equation,  statistical optimization,  noise estimation,  

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Theoretically, corresponding pairs of feature points between two stereo images can determine their 3-D locations uniquely by triangulation. In the presence of noise, however, corresponding feature points may not satisfy the epipolar equation exactly, so we must first correct the corresponding pairs so as to satisfy the epipolar equation. In this paper, we present an optimal correction method based on a statistical model of image noise. Our method allows us to evaluate the magnitude of image noise a posteriori and compute the covariance matrix of each of the reconstructed 3-D points. We demonstrate the effectiveness of our method by doing numerical simulation and real-image experiments.