Stereo feature matching in disparity space

A method is presented for matching, validating, and disambiguating features for stereo vision. It is based on the stereo matching algorithm of D. Marr and T. Poggio (1979) and W.E.L. Grimson (1981, 1985), which uses zero-crossing contours in difference-of-Gaussian filtered images as features. The matched contours are represented in disparity space, which makes the information needed for matched contour validation and disambiguation easily accessible. The use of disparity space also makes the algorithm conceptually cleaner than previous implementations of the Marr-Poggio-Grimson algorithm and yields a more efficient matching process