Depth perception based on fusion of stereo images

In this paper, we present an edge-based stereo vision algorithm that treats the stereo correspondence problem as a resolution problem rather than a searching problem as in earlier work. The stereopsis is obtained through `fusion' rather than `point-to-point' matching. Rayleigh criterion for resolution diffraction pattern is applied in the fusion process, and the disparity information of the entire image is obtained in one convolution operation. The computation burden is largely reduced. This algorithm uses cross-looking cameras model so that the fixation point can be used as a reference point to register the two images. The edge filter used is developed according to the schematic model of cortical simple cells in the human visual system. During the fusion process, an additional procedure imitating the `optic decussation' in human visual processing is performed so as to minimize the ambiguity due to surface occlusion.