Depth map construction from range-guided multiresolution stereo matching

This paper describes a multiresolution method for the acquisition of a complete, relatively noise-free, and high-resolution depth map from a low-resolution laser range image and a stereo pair of high resolution intensity images. Depth information from the laser range data is used to constrain the initial search in stereo matching. The inter- and intralevel linkings of edges in the pyramid allow a process where the coarse laser depth information drives a multiresolution stereo-matching process to construct a high-resolution depth map. The motivation for this new approach to multi-sensor integration is to offset the advantages and disadvantages of traditional stereo matching and triangulation range finding approaches