Data association in temporal integration of stereo depth

We describe the construction and integration of 3D models using two calibrated stereo vision rigs mounted on a load-haul-dump vehicle (LHD) operating in an experimental mine. The system operates in unstructured environments, and does not assume it is operating on a smooth planar surface. We compare the 3D models with ground truth data obtained using a laser scanner over 50 meters of tunnel including an intersection and a muck bay. Our implementation is partially recursive, in that the 3D model is updated recursively, but image data is saved for later use in associating image features to map locations. This kind of implementation is a good compromise between fully batch and fully recursive, as the growth in both storage requirements and computational complexity with time is very low, while retaining the stability of a batch method