An approach to 3D scene reconstruction from noisy binocular image sequences using information fusion

The vision system described reconstructs 3D scenes from sequences of noisy binocular images. First, the system establishes all possible matches between the feature pixels in the first binocular image pair and assigns a confidence value to a possible match. Each possible match is associated with a 3D volume. The possible matches are used to predict projections of associated 3D volumes onto the remaining binocular image pairs. These projections are utilized to limit searches for possible matches. The matches are used to update confidence values using an optimal fusion algorithm. Finally, matched pixels with high confidence values are used to reconstruct a 3D scene