Dynamic edge warping: experiments in disparity estimation under weak constraints

A technique, dynamic edge warping, for recovering reasonable disparity maps from uncalibrated stereo image pairs is presented. No precise knowledge of the epipolar camera geometry is assumed. The technique is part of a system including structural stereopsis and digital photogrammetry for self-calibrating stereo image pairs with application in autonomous extraction of terrain maps from stereo aerial photographs and autonomous calibration maintenance in robotic vision. The system substitutes high-level information and constraints for precise geometric knowledge, in constraining the matching process