Abstract

We describe our implementation of a parallel depth recovery system for four-camera multibaseline stereo in a convergent configuration. Our system is capable of image capture at full video rate for extended periods (over 500 images.) This is critical in applications that require tracking in 3D. We obtain dense stereo depth data by projecting a light pattern of sinusoidally varying intensity onto the scene, thus increasing the local discriminability at each pixel and facilitating matches. In addition, we make most of the camera view areas by converging them at a volume of interest.We are able to extract stereo depth data that are, on the average, less than 1 mm in error at distances between 1.5 to 3.5 m away from the cameras. The performance of the system is thus comparable to a good light-striping system while allowing rapid imaging.