A multistage stereo method giving priority to reliable matching with self calibration by stereo

Describes two topics: (1) a reliable feature-based stereo matching method which determines the more reliable matching pairs earlier and then determines the less reliable ones later using the previously obtained results; and (2) a reliable calibration method for small vertical displacements. The feature point is an edge. The contrast, the position, and the direction of the edge are used to evaluate the matching reliability. Experiments with complicated indoor scenes proved that the proposed method is better than conventional methods