BMVC91 pp 160-168 | Cite as

Optimal Surface Fusion

  • Peter R. J. North
Conference paper


This paper presents a general method for combining stereo surfaces using a Kalman filter. A measure of error in surface representation is suggested, and the work shows how a set of surfaces may be combined to give a single surface which minimises this measure. The analysis shows how a stochastic surface may be generated using stereo, and how errors in surface-to-surface registration may be modeled. The cases of multiple, mutually-occluding surfaces and unknown three-dimensional camera motion are considered. Performance is analysed using semi-artificial data. The results are important to multi-sensor fusion and automatic model generation.


Covariance Autocorrelation 


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Copyright information

© Springer-Verlag London Limited 1991

Authors and Affiliations

  • Peter R. J. North
    • 1
  1. 1.School of Cognitive and Computing SciencesUniversity of SussexUK

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