The aim is to improve stereo-matching for building sets of matched chain couples. These chains are verified to be planar since they are supposed to correspond to planar surfaces of objects. The verification is only based on projective invariants. The result of this matching process is then propagated to the chains. For each couple of chains a colineation is obtained.
Different problems occur during the chain matching process.
As the chains are generally not decomposed the same way in both images, problems of split and merge have to be taken into account. Furthermore, due to the noise in the images, the computation of the colineations can be unstable. This unstability is reduced by using the fundamental matrix to constrain the computation of the colineation. Results become much better but some problems still remain in some cases. In this approach, color caracteristics are extracted globally on the whole image.