Trinocular stereo: A real-time algorithm and its evaluation

J. Mulligan, V. Isler, K. Daniilidis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

In telepresence applications each user is immersed in a rendered 3D-world composed from representations transmitted from remote sites. The challenge is to compute dense range data at high frame rates, since participants cannot easily communicate if the processing cycle or network latencies are long. Moreover errors in new stereoscopic views of the remote 3D-world should be hardly perceptible. To achieve the required speed and accuracy, we use trinocular stereo, a matching algorithm based on the sum of modified normalized cross-correlations, and subpixel disparity interpolation. To increase speed we use Intel IPL functions in the pre-processing steps of background subtraction and image rectification as well as a four-processor parallelization. To evaluate our system we have developed a testbed which provides a set of registered dense "ground-truth" laser data and image data from multiple views.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE Workshop on Stereo and Multi-Baseline Vision, SMBV 2001
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages10-17
Number of pages8
ISBN (Electronic)0769513271, 9780769513270
DOIs
StatePublished - 2001
EventIEEE Workshop on Stereo and Multi-Baseline Vision, SMBV 2001 - Kauai, United States
Duration: Dec 9 2001Dec 10 2001

Publication series

NameProceedings - IEEE Workshop on Stereo and Multi-Baseline Vision, SMBV 2001

Other

OtherIEEE Workshop on Stereo and Multi-Baseline Vision, SMBV 2001
CountryUnited States
CityKauai
Period12/9/0112/10/01

Bibliographical note

Funding Information:
This work has been supported by NSF IIS-0083209, ARO/MURI DAAH04-96-1-0007, NSF CDS-97-03220, DARPA-ITO-DABT63-99-1-0017, Penn Research Foundation, and Advanced Network and Services.

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