Properties of human stereo processing Features for stereo matching:  simple, low-level, e.g. edges  position and disparity measured very precisely  multiple scales  similar between left/right images Helmholtz

Properties of human stereo processing At single fixation position, match features over a limited range of horizontal & vertical disparity Eye movements used to match features over larger range of disparity Neural mechanisms selective for particular ranges of stereo disparity

Stereo images (Tsukuba, CMU)

Zero-crossings for stereo matching + - … …

Autonomous Vehicles 3-D visualization for surgical guidance Stanford’s “Stanley” won the 2005 DARPA Grand Challenge CMU’s “Boss” won the 2007 DARPA Urban Challenge CMU’s Lewis & Clark Stanford’s Stanley won DARPA desert challenge Using satellite stereo images to make terrain maps MIT/BWH CMU overlay system 3-D visualization for surgical guidance

Stereo Vision Applications Mars Exploration Rover Mission “Spirit” Asimo humanoid robot Vision: ASIMO’s vision system consists of basic video cameras for eyes, located in its head. ASIMO uses a proprietary vision algorithm that lets it see, recognize, and avoid running into objects even if their orientation and lighting are not the same as those in its memory database. These cameras can detect multiple objects, recognize programmed faces, and even interpret hand motions. For example, when you hold your hand up to ASIMO in a "stop" position, ASIMO stops. The facial recognition feature allows ASIMO to greet "familiar" people. NASA: MER explores Mars, Robonaut to the rescue Robonaut to the rescue! Robotics Stereo Vision Applications Tokyo Institute of Technology Bino3 security robot