A new technique to extract range information from stereo images

Results are described for an algorithm that automatically registers two stereo images. An exact area registration process which automatically removes all residual distortion due to the geometry of the stereo imaging system is demonstrated. This process allows the match judgement to be based upon an analysis of the residual differences of structure and intensity existing after all differences due to geometrical distortion have been corrected. The accuracy in general seems to be of the order of 1% of range, since the average distance to the model was about 600 mm and the RMS error in range was about 6 mm. The fact that the maximum error was greater by a factor of five indicates that there were still some mismatched points and the procedures followed in the stereo ranging algorithm were not sufficient. Further modifications to the algorithm are needed