Depth extraction with a mobile stereo system is described. The stereo setup is precalibrated, but the system extracts its own motion. Emphasis lies on the integration of the motion and stereo cues. It is guided by the relative confidence that the system has in these cues. This weighing is fine-grained in that it is determined for every pixel at every iteration. Reliable information spreads fast at the expense of less reliable data, both in terms of spatial communication and in terms of exchange between cues. The resulting system can handle large displacements, depth discontinuities and occulsions. Experimental results corroborate the viability of the approach.
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