A benchmark on stereo disparity estimation for humanoid robots

This paper presents the experimental evaluation of a dense disparity estimation algorithm, focusing on the most relevant aspects for humanoid robots: real-time functionality and ability to deal with calibration errors. The method and its real time implementation are briefly described and several tests show its performance and the quality of its output as a function of the design parameters. Benchmark tests illustrate the computational cost of the method, implemented in C++ on a standard desktop computer, with open source libraries.

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