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.


Control Point Registration Error Stereo Pair Positional Uncertainty Inverse Depth 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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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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