Feature Based Stereo Matching Using Two-Step Expansion

Figure 2

and are the images observed from the camera centres and separately. Given three sets of matched point pairs, , and , an unmatched point in the left image and the unknown corresponding point in the right image, and are the lines on which the corresponding points and lie. Points , , and are the closest points on the line to the points , , and in the left image, and points , , and are the closest points on the line to the points , , and in the right image.