3-D SCENE RECONSTRUCTION FROM NOISY IMAGE SEQUENCES USING DATA FUSION

The system reconstructs 3-D scenes from sequences of noisy binocular images. First, the system establishes possible matches between the feature pixels in the first image pair and assigns a confidence value to a possible match. Each possible match is associated with a 3-D volume. The possible matches are used to predict projections of associated 3-D volumes onto the remaining image pairs. The new matches are used to update confidence values using a Kalman filtering related fusion algorithm. Finally, matched pixels with high confidence values are used to reconstruct a 3-D scene.