Stereo Motion from Feature Matching and Tracking

This paper presents a 3D pose estimation and reconstruction system based on a calibrated stereoscopic vision setup. The proposed approach consists in robustly tracking the movements of the cameras with respect to a rigid scene along a sequence. In addition, a novel correction scheme is proposed, that compensates for the accumulated error in the computed positions, exploiting the detection of loops in the movement. Experiments are presented to assess the accuracy of the resulting 3D measurements