Object shape recovery in lateral navigation system using motion stereo technique

A computationally efficient pyramid adaptive algorithm based on Fourier local phase matching is proposed to compute precise depth estimates in lateral navigation system for motion stereo. In general, the motion stereo uses the intensity value as the matching primitive. To decrease the computational depth error, when the brightness of each moving picture is highly variable, we developed a method for the motion stereo using the phase of Gabor filters instead of intensity. In order to implement the motion stereo more efficiently, hierarchical method is also used consisting of pyramidal data sequences. We present the experimental results demonstrating that our method gives more accurate depth estimates than the motion stereo algorithm based on intensity matching.