Abstract: An image processing system which processes image data on a line by line basis. Edges in the images are detected as discontinuities in intensity. The intensity profile between detected edges is determined and matched to a polynomial function. Data representing the detected edges and data relating to the detected profile are stored as a data set for further processing. The data set for one image may be compared to that for another similar image in order to match features between images and thereby produce three-dimensional information about a scene.

Abstract: Corresponding points in at least two different images of a scene are matched by the use of a shortest path analysis. An edge point in a continuous edge segment is selected in one image and potentially matching edge points in other images are arranged as a layered network. Weightings are applied to the potential matches and the best match is identified on the basis of a shortest path analysis of the network. In one preferred arrangement epipolar lines are used. For each edge point to be matched the position of the corresponding epipolar line is calculated using matrices defining parameters associated with the capturing of the image. The epipolar line is used to identify in the other image points as potential matches to the selected point in the one image. Further constraints are applied to the identified points to find the one point in the other image that most likely matches the selected point.