Stereopsis near the Horoptor

Many stereopsis algorithms attempt to recover depth over a wide range of disparities at every pixel location. If the disparity recovery process is limited to a smaller range of disparities, and if disparity measurements are only required where they can be extracted reliably, then the task of recovering `local' disparities can be simpli ed considerably. This paper presents an algorithm for extracting these local disparities robustly using a unique, local a ne disparity model. Preliminary experiments demonstrate the promise of the approach.