Robust area matching
We propose a general and robust solution to the problem of close-range 3D reconstruction of objects from stereo correspondence of luminance profiles. The method does not require a particular camera geometry, and can be implemented with an arbitrary number of CCD cameras. Its robustness can be mainly attributed to the physicality of the matching process, which is performed in the 3D space, while taking both geometric and radiometric distortions into account. Extensive tests have been performed over a variety of real scenes, using a calibrated trinocular camera system.