Efficient depth estimation using trinocular stereo

We present recent advancements in our passive trinocular stereo system. These include a technique for calibrating and rectifying in a very efficient and simple manner the triplets of images taken for trinocular stereovision systems. After the rectification of images, epipolar lines are parallel to the axes of the image coordinate frames. Therefore, potential matches between the three images satisfy simpler relations, allowing for a less complicated and more efficient matching algorithm. We also describe a more robust and general control strategy now employed in our trinocular stereo system. We have also developed an innovative method for the reconstruction of 3-D segments which provides better results and a new validation technique based on the observation that neighbors in the image should be neighbors in space. Experiments are presented demonstrating these advancements.