3D Modeling of Structured Scenes Through Binocular Stereo Vision Angeles López, Filiberto Pla and José Ribelles

Structured scenes are usually composed of man-made objects, often with lack of texture, which makes stereo correspondence more difficult. In this paper, we present a new matching algorithm which directly gives a 3D representation of structured scenes, by computing region correspondences and occlusions cooperatively. The new algorithm controls the minimization of a function for each region in several steps, in order to cooperatively guide the process towards a global convergence. We analyze its theoretical computational cost, and we present some experimental results to validate the scope of this approach and the possibilities of a generalization of the method to planar and other surfaces.