Synergistic Smooth Surface Stereo

Abstract

This paper presents a new algorithm for stereo matching. The algo- rithm combines what are generally three processes, feature matching, surface reconstruction, and segmentation of world surfaces, in a consis- tent and synergistic way. By integrating these phases, which are usually sequential, the algorithm can make use of the current surface approxi- mation to disambiguate potential matches. This results in higher data densities, a consistency of interpretation, and greater system flexibility. Examples of the algorithm are presented on real and synthetic images, including a scene with a transparent surface.