Dynamic stereo with self-calibration
Arun P. Tirumalai, Brian G. Schunck, Ramesh Chandra Jain · IEEE Transactions on Pattern Analysis and Machine Intelligence · 1992
An approach for incremental refinement of disparity maps obtained from a dynamic stereo sequence of a static scene is presented. The approach has been implemented using a binocular stereo vision system mounted on a mobile robot. A robust least median of squares based algorithm is given for recovering the camera motion between successive viewpoints, which provides a self-calibration mechanism. The recovered motion is utilized for recursive disparity prediction and refinement using a robust Kalman filter model.>