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In this chapter we presented a scheme that computes dense and accurate depth maps based on the sequence linking of pairwise estimated disparity maps. First a matching algorithm was presented which computes corresponding points for an image pair in standard stereo configuration. Then it was explained how images can be rectified so that any pair of images can be brought to this configuration. Finally a multi-view linking approach was presented which allows to combine the results to obtain more accurate and dense depth maps. The performance analysis showed that very dense depth maps with fill rates of over 90 % and a relative depth error of 0.1% can be measured with off-the-shelf cameras even in unrestricted outdoor environments such as an archaeological site.

Marc Pollefeys 2002-11-22