Depth map merging or Point Cloud Merging

Hi All, My goal is to create a single 3D point-cloud based on 2 pairs of images(AB, BC) and their projection matrices. Each image comes from the same camera (not video) with 3 distinct positions.

I use the "standard process": Point matching (sift or surf), keeping inliers only, finding the position, doing the bundle adjustment...images rectifications. Up to now everything works.

Then I use the function "disparity" to create the 2 disparity maps, one for each pair of images. Then i create the 3d point clouds using the projection matrices.

But, how can i merge the 2 points clouds coming from AB and BC. Apparently, the 3D coordinates depends on the "DisparityRange" parameters of the function disparity.

Did i miss a step in the process ?

Thanks in advance for any help Alvaro

Answer 1

[Alvaro]

Hi all Problem solved. The problem was that I processed wide-baseline stereo images as if they were short-baseline. Fatal Error!

Thanks

Answer 2

[Dima Lisin]

Hi Alvaro,

The Computer Vision System Toolbox now (as of R2015a) includes functionality for registering and merging point clouds.

[Alvaro]

Thank you Dima for your help.