Stereo Triangulation Techniques.

Given a pair of matching image points in two different views, as obtained by a stereo correspondence algorithm, stereo triangulation is the method used to compute the source point in 3-space that produced the two image points. In this paper, we give a precise formulation of the stereo triangulation problem and analyze the error using a Bayesian statistical approach. We present several new stereo triangulation techniques, including some for more than two cameras. These are presented and compared with other techniques in existence.