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Real-time correlation-based stereo : algorithm, implementations and applications

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HAL Id: inria-00074658

https://hal.inria.fr/inria-00074658

Submitted on 24 May 2006

HAL is a multi-disciplinary open access archive for the deposit and dissemination of sci-

L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents

Real-time correlation-based stereo : algorithm, implementations and applications

Olivier Faugeras, Thierry Viéville, Eric Theron, Jean Vuillemin, Bernard Hotz, Zhengyou Zhang, Laurent Moll, Patrice Bertin, Herve Mathieu, Pascal

Fua, et al.

To cite this version:

Olivier Faugeras, Thierry Viéville, Eric Theron, Jean Vuillemin, Bernard Hotz, et al.. Real-time correlation-based stereo : algorithm, implementations and applications. [Research Report] RR-2013, INRIA. 1993. �inria-00074658�

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ISSN 0249-6399

a p p o r t

d e r e c h e r c h e

INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE

Real time correlation-based stereo:

algorithm, implementations and applications

Olivier Faugeras - Bernard Hotz - Herve´ Mathieu - Thierry Vie´ville Zhengyou Zhang - Pascal Fua - Eric The´ron - Laurent Moll Ge´rard Berry - Jean Vuillemin - Patrice Bertin - Catherine Proy

N˚ 2013

aouˆt 1993

PROGRAMME 4

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(10)

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(12)

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†™˜—x{’U †šv}|ˆŠ’^†(†™˜|‡†(†š˜–<ˆŠy•|^v ˆ†+ W8x{v–•f†š˜ Z ˆŠ Šxf—|$$—x^’ †™|{’^†(ˆŠ’P†š˜ŽDˆŠ—ˆŠ’fˆ†+YxC|•fˆTUn˜

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v}|{~>†švyJ8x^v…Cx‡†š˜—|^~Yvy|^I/˜fˆŠ|^~Yx^‹’^†šw†šxV8a’U–fˆŠ’z|v}Š|†}ˆŠx{’Uy˜fˆŠ•7W:•bvy}•C—†}ˆŽ{•v}x“ —†}ˆŠx{’ Z

…b†+”’>†š˜U"Ÿ#; •bx‡ˆŠ’{†™wˆŠ’%†š˜/y—’/|{’–†™˜ˆŠv–fˆ$6Cv}’{†—|^~Yv}|0ˆŠ~Y|^z{ 8UŒbœ‡¡<ŒAŸ^ n˜fˆŠ”ˆŠ|

—v}‹—ˆŠ|‘†š|^z{/ˆŠ’j†™˜"ŽDˆŠ‘ˆŠx{’s•vyxf—}”|^ˆ†0|$ŠxI†šx> ˆŠ~>•!ˆ$%†š˜U‚—x^vyv}y•bx{’U–’—•v}x{…!Š~ |^’–

†™xx{…<†š|‡ˆŠ’n|>Ÿ#b; v}•vy}’{†™|†}ˆŠx{’Px(†™˜0vyy‹%†šI)M|ˆŠ…v}|†}ˆŠx{’˜|^…C’•bv8x^vy~>–ˆŠ’%†+x>|fI

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—|ˆŠ…vy|‡†yˆŠx^’z{v‘ˆŠ–- M"’/–vy|I…|{— x†š˜fˆŠ—|ˆŠ…vy|‡†yˆŠx^’y—™˜~YˆŠ†™˜|‡†”ŸH;Tvy—x^’ †™vy‹—†}ˆŠx{’ˆŠ–Ux{’

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—x^~Y•‹%Šyx^v…b8x^vyDTU•!Šx‡ˆ†yˆŠ’zPvyy‹%†šŒ<|†Š|^†|‡††š˜/•vy}’^†m‘†š|^z{/x(x^‹v)D’xŠ–z^

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ˆŠ’0ˆŠ’%†™˜"x‡†š˜vwˆŠ~>|{z^)Mx{v}vy}•Cx^’–fˆŠ’z0•bxˆŠ’^†š—|^’>†š˜’%…b8x^‹’–%…H%y—|^’’fˆŠ’zŽ^v%•Cx‡ˆŠ’^† 

•fˆŠ•bxŠ|{v4ˆŠ’I 0/’!8x^v †™‹’|‡†š$s†š˜j•<ˆŠ•CxŠ|{v4ˆŠ’28x^vy~ | •C’—ˆ$/xAˆŠ’Œ/ˆn †™˜\|$‚z^x

†™˜vyx^‹z^˜| •bxˆŠ’^†0—|$Š–†™˜•fˆŠ•bxŠA˜fˆŠ0~Y|Hm†š˜}—|{’’<ˆŠ’z†™|{@6|ˆŠv,$j—x{~>•!ŠDTn|{’–n†š˜D‹

ˆŠ’'>—ˆŠ’{†"˜fˆŠˆŠ˜HY†™˜ˆŠ~>|{z^|{v}"vy•Uvyx“‘—†š–x^’{†™x|•!Š|^’"•U|{v}|$Šb†šx†™˜ˆŠ’…b†+”’

†™˜x{•f†}ˆŠ—|—’^†šv}Œ<ˆŠ’†š˜U‚—|^y0x |Y…<ˆŠ’xf—‹!Š|^v †šv}xv ˆŠzfŒbx^v†šxP†š˜x^•f†yˆŠ—|—’{†™vy•!Š|^’A8x^v

|P†šv ˆŠ’Uxf—‹!Š|{vwf‘†š~ J’†š˜Ui—|^y0x(|P…fˆŠ’xf—‹!Š|^vv ˆŠzfŒ—|{’%|ˆŠz{’†™˜i•<ˆŠ•CxŠ|{vˆŠ’Yˆ†š˜†š˜

ˆŠ~>|{z^"v}x˜fˆŠ—™˜z{v}|†$Y ˆŠ~>•!ˆ$8a†™˜i—x^vyv}y•bx{’U–’—•vyxf—}I/ ’%†š˜0—|^y"x|†™v ˆŠ’xf—‹%Š|{v

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(13)

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6x$ŠxˆŠ’UzY•|‡ˆŠv ˆŠ’z‘†š|^z{

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•bv6x{v}~ †™˜—x^vyvyŠ|‡†yˆŠx^’-=˜fˆŠ"|^••v}x{|^—™˜ ˆŠ“‹U †yˆ$8A–@˜U’jx{’%$ ˆŠ~Pˆ†š–—x^~Y•‹<†yˆŠ’zv}yx^‹vy—

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—x^vyv}Š|†}ˆŠx{’xŽ^v|$ˆŠ~Y|^z{•bxˆŠ’^†™i|^’–Sv}†š|‡ˆŠ’jx^’!$j~Y|‡†š—™˜†™˜|‡†i|^••C|^v†™xn…b ‡Ž|ˆŠ– 2˜

˜|^vy–•Uvyx^…!Š~ ˆŠ†š˜U’ †™xY•v}xŽDˆŠ–|{’ 6C—†yˆŽ^i–U8a’fˆ†yˆŠx^’x˜|‡†”—|$Ž|ˆŠ–fˆ†+|{’–*Vˆ$$

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Mx{v}vyŠ|‡†yˆŠx^’\y—x^vy>|{v}j—x^~Y•‹f†™–… —x{~>•|^v ˆŠ’zs|38!T– ˆŠ’–x ˆŠ’W†™˜Q8av} †>ˆŠ~Y|^z{†™x

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