Figure 3.

Comparison between our reconstruction and single frame based reconstruction. (Top-left) RGB image from the left camera. (Top-right) Disparity map computed with the approach of [33]. (Bottom-left) 3D reconstruction constrained within 5 m in front of the camera, based solely on the disparity map of the current frame. Errors in the estimation of the stereo correspondence lead to the presence of false structures in the reconstruction. (Bottom-right) Result of our incremental reconstruction showing the accumulated stable points (confidence above a predefined threshold).