The Usage of the BP-Layers Stereo Matching Algorithm with the EBCA Camera Set

Abstract

This paper is concerned with applying a stereo matching algorithm called BP-Layers to a set of many cameras. BP Layers is designed for obtaining disparity maps from stereo cameras. The algorithm takes advantage of convolutional natural networks. This paper presents using this algorithm with a set called Equal Baseline Camera Array. This set consists of up to five cameras with one central camera and other ones aground it. Such a set has similar advantages as a stereo camera. In particular this equipment is suitable for providing 3D vision for autonomous robots operating outdoors. The research presented in this paper shows the extent to which results of using BP Layers are improving because of using the EBCA set instead of a stereo camera.