Distributed algorithm for multisensor integration applied to 3D scene reconstruction

A distributed algorithm for multisensor integration that considers sensors represented in local coordinate systems and the communication networks between sensors with uncertainties is described. The algorithm is applied to the problem of 3D scene reconstruction from binocular image sequences. The essence of the approach to 3D scene reconstruction is the establishment of correspondences between feature pixels in each image pair and the assignment of a 3D region to each established correspondence. The feature pixels are zero-crossings, and correspondences are established pairwise and between the frames of each sequence under specified criteria. The obtained 3D regions are utilized as the means of information integration to reduce spatial uncertainty. The algorithm has been applied to various binocular image sequences, and the results are generally very good