Fusion of a Variable Baseline System and a Range Finder

Abstract

One of the greatest difficulties in stereo vision is the appearance of ambiguities when matching similar points from different images. In this article we analyze the effectiveness of using a fusion of multiple baselines and a range finder from a theoretical point of view, focusing on the results of using both prismatic and rotational articulations for baseline generation, and offer a practical case to prove its efficiency on an autonomous vehicle.

Keywords

• correspondence problem
• multiple baseline
• variable baseline
• pinhole camera
• range finder
• stereo vision
• sensor fusion