With the camera calibration given for all viewpoints of the sequence, we can proceed with methods developed for calibrated structure from motion algorithms. The feature tracking algorithm already delivers a sparse surface model based on distinct feature points. This however is not sufficient to reconstruct geometrically correct and visually pleasing surface models. This task is accomplished by a dense disparity matching that estimates correspondences from the grey level images directly by exploiting additional geometrical constraints.
This chapter is organized as follows. In a first section rectification is discussed. This makes it possible to use standard stereo matching techniques on image pairs. Stereo matching is discussed in a second section. Finally a multi-view approach that allows to integrate the results obtained from several pairs is presented.