Multimodal stereo vision system: 3D data extraction and algorithm evaluation

Fernando Barrera Campo, Felipe Lumbreras Ruiz, Angel Domingo Sappa

Research output: Contribution to journalArticleResearchpeer-review

45 Citations (Scopus)


This paper proposes an imaging system for computing sparse depth maps from multispectral images. A special stereo head consisting of an infrared and a color camera defines the proposed multimodal acquisition system. The cameras are rigidly attached so that their image planes are parallel. Details about the calibration and image rectification procedure are provided. Sparse disparity maps are obtained by the combined use of mutual information enriched with gradient information. The proposed approach is evaluated using a Receiver Operating Characteristics curve. Furthermore, a multispectral dataset, color and infrared images, together with their corresponding ground truth disparity maps, is generated and used as a test bed. Experimental results in real outdoor scenarios are provided showing its viability and that the proposed approach is not restricted to a specific domain. © 2012 IEEE.
Original languageEnglish
Article number6220232
Pages (from-to)437-446
JournalIEEE Journal on Selected Topics in Signal Processing
Issue number5
Publication statusPublished - 30 Aug 2012


  • Color and infrared images
  • multimodal stereo rig
  • sparse 3D maps


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