Epipolar Spaces for Active Binocular Vision Systems

Depth recovery for active binocular vision systems is simplified if the camera geometry is known and corresponding points can be restricted to epipolar lines. Unfortunately, computation of epipolar lines requires calibration which can be complex and inaccurate. While it is possible to register images without geometric information, such unconstrained algorithms are usually time consuming and prone to error. In this paper we propose a compromise. Even without the instantaneous knowledge of the system geometry, we can restrict the region of correspondence by imposing limits on the possible range of configurations, and as a result, confine our search for matching points to epipolar spaces. For each point in one image, we define the corresponding epipolar space in the other image as the union of all associated epipolar lines over all possible system geometries. Epipolar spaces eliminate the need for calibration at the cost of an increased search region.