Several vision tasks rely upon the availability of sets of corresponding features among images. We present a method which, given some corresponding features in two stereo images, addresses the problem of matching them with features extracted from a second stereo pair captured from a distant viewpoint. The proposed method is based on the assumption that the viewed scene contains two planar surfaces and exploits geometric constraints that are imposed by the existence of these planes to predict the location of image features in the second stereo pair. The resulting scheme handles point and line features in a unified manner and is capable of successfully matching features extracted from stereo pairs acquired from considerably different viewpoints. Experimental results from a prototype implementation demonstrate the effectiveness of the approach.
Left image of the 1st stereo-pair, right image of the 1st stereo-pair, left image of the 2nd stereo-pair
Point matches in the left and the right images of the first stereo pair
Resulting matched points at the distant, left image of the second stereo pair, reconstruction of scene and camera geometry based on the extracted correspondences (side view), reconstruction of scene and camera geometry based on the extracted correspondences (top view).
The electronic versions of the above publications can be downloaded from my publications page.