New Algorithms for 3D Surface Description from Binocular Stereo using Integration

In this paper, we formulate and develop an approach which integrates diierent modules (feature extractor, matching and interpolation) involved in stereo. We study the integration process at the nest resolution when, (i) precomputed edge map is the only line eld driving the model, (ii) the line elds are computed interactively by the feature extracting module of the model and (iii) when both the interactive line eld computation module and the precomputed line eld modules are present. This integration process being computationally intensive, we develop a multiresolution stereo integration approach. Energy function for each of the module at diierent resolutions is constructed and minimized in an integrated manner yielding a dense disparity map. A new energy function for the matching module is proposed. Experimental results are presented to illustrate our approach.