Abstract
In this reported work, the maximum likelihood estimation of the depth field from a trinocular imaging system is considered. Conventional stereo pairs are able to extract depth information from image changes only along the epipolar line, but the use of three cameras in an ‘L’ shape allows one to utilise any change, irrespective of its orientation. The estimate is obtained by maximising the sum of the cross-correlations computed along the orthogonal epipolar lines. Theoretical assessment of the achievable performance based on Fisher's information is also included. Simulation results have validated the mathematical framework and the performance analysis.
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