From Multiple Stereo Views to Multiple 3-D Surfaces

摘要

We present a framework for 3-dimensional surface reconstruction that can be used to model fully 3-D scenes from an arbitrary number of stereo views taken from vastly different viewpoints. This is a key step toward producing 3-D world-descriptions of complex scenes using stereo and is a very challenging problem: real-world scenes tend to contain many 3-D objects, they do not usually conform to the 2-1/2-D assumption made by traditional algorithms, and one cannot take it for granted that the computed 3-D points can easily be clustered into separate groups. Furthermore, stereo data is often incomplete and sometimes erroneous, which makes the problem even more difficult.