Hierarchical stereo and motion correspondence using feature groupings

Hierarchical feature based stereo matching and motion correspondence algorithms are presented. The hierarchy consists of lines, vertices, edges and surfaces. Matching starts at the highest level of the hierarchy (surfaces) and proceeds to the lowest (lines). Higher level features are easier to match, because they are fewer in number and more distinct in form. These matches then constrain the matches at lower levels. Perceptual and structural relations are used to group matches into islands of certainty. A Truth Maintenance System (TMS) is used to enforce grouping constraints and eliminate inconsistent match groupings. The TMS is also used to carry out belief revisions necessitiated by additions, deletions and confirmations of feature and match hypotheses.

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