BINOCULAR DENSE DEPTH RECONSTRUCTION USING ISOTROPY CONSTRAINT

From two calibrated perspective views of a scene a direct metric reconstruction is made. It is in a precise sense the least committed reconstruction. From assumptions of rotational invariance of 3D space and camera projection models the priors needed for a Bayesian estimation are deduced. A model of approximate Lambertian reflection is used. The resulting Bayesian estimation scheme is capable of reconstructing depth discontinuities. The constraint induced by the assumption of isotropy is furthermore shown to be invariant under change of the extrinsic camera parameters and scale. A multi-scale GNC-like algorithm is used to find a solution from initial estimates.