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30 September 2003 Multibaseline stereo system for evaluation of binocular stereo
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Binocular, correlation based stereo has been a key component in many efforts at autonomous vehicle navigation. However, estimation of ground truth range data, especially in field conditions, remains a challenge. We present a 5 camera, multibaseline stereo system and demonstrate its use as a passive ground truthing mechanism for binocular stereo. In this paper, we provide both a system description and a detailed overview of a novel depth-based multibaseline stereo algorithm. Our new algorithm avoids the need for pairwise camera rectification. We conclude with several simulations and real world experiments to verify our results.
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Adnan I Ansar and Larry Henry Matthies "Multibaseline stereo system for evaluation of binocular stereo", Proc. SPIE 5083, Unmanned Ground Vehicle Technology V, (30 September 2003);

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