INFINITY AND PLANARITY TEST FOR STEREO VISION

Introducing a mathematical model of noise in stereo images, we propose a new criterion For intelligent statistical inference about the scene we are viewing by using the geometric information criterion (geometri c AIC). Using synthetic and real-image experiments, we demonstrate tha r a robot can lest whether or not the object is located very far away or the object is a planar surface without using any knowledge about th e noise magnitude or any empirically adjustable thresholds.