BIB-VERSION:: CS-TR-v2.0
          ID:: STAN//CS-TR-74-462
       ENTRY:: August 23, 1995
ORGANIZATION:: Stanford University, Department of Computer Science
       TITLE:: A fast, feature-driven stereo depth program.
        TYPE:: Technical Report
      AUTHOR:: Pingle, Karl K.
      AUTHOR:: Thomas, Arthur J.
        DATE:: May 1975
       PAGES:: 23
    ABSTRACT:: In this paper we describe a fast, feature-driven program for
               extracting depth information from stereoscopic sets of
               digitized TV images. This is achieved by two means: in the
               simplest case, by statistically correlating variable-sized
               windows on the basis of visual texture, and in the more
               complex case by pre-processing the images to extract
               significant visual features such as corners, and then using
               these features to control the correlation process.

               The program runs on the PDP-10 but uses a PDP-11/45 and an
               SPS-41 Signal Processing Computer as subsidiary processors.
               The use of the two small, fast machines for the performance
               of simple but often-repeated computations effects an increase
               in speed sufficient to allow us to think of using this
               program as a fast 3-dimensional segmentation method,
               preparatory to more complex image processing. It is also
               intended for use in visual feedback tasks involved in
               hand-eye coordination and automated assembly. The current
               program is able to calculate the three-dimensional positions
               of 10 points to within 5 millimeters, using 5 seconds of
               computation for extracting features, 1 second per image for
               correlation, and 0.1 second for the depth calculation.
       NOTES:: [Adminitrivia V1/Prg/19950823]
         END:: STAN//CS-TR-74-462