A Trinocular Stereo-Matching Algorithm Based on Adaptive Support-Weight for Mobile Service Robot

摘要

A trinocular stereo-matching algorithm based on adaptive support-weight and disparity adjustment has been proposed to improve the accuracy of trinocular vision. Adaptive support-weight which is an efficient window selection method in binocular stereo is applied in the trinocular stereo. A robust target image selection method is also proposed for using the information of different target images in trinocular stereo-vision system efficiently. So occlusion can be handled well by this means. The vision system is tested in the project Family Life Support Multi-Robot Systems.