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We present a novel method for irregular pyramid construction. The contributions of this paper are twofold: (1) Instead of starting with the original regular pixel grid, we first apply an adaptive Voronoi tessellation to the image. This provides the advantage that the number of cells at the bottom...
In stereo vision the depth of a 3-D point is estimated based on the position of its projections on the left and right images. The image plane of cameras that produces the images consists of discrete pixels. This discretization of images generates uncertainty in estimation of the depth at each 3-D...