Zitnick—Kanade Stereo Algorithm: ZK Stereo (Cooperative Algorithm for Stereo Matching and Occlusion Detection [1]) is a program developed by Carnegie Mellon University. It applies the triangulation algorithm.

相对定向。解算立体像对相对方位元素的工作，恢复两光束间相对方位的工作-Relative orientation. Work solver stereo pair relative orientation elements and restore the relative orientation between the two beams work

a C++ implementation of the stereo and image restoration algorithms described in the paper: Efficient Belief Propagation for Early Vision Pedro F. Felzenszwalb and Daniel P. Huttenlocher International Journal of Computer Vision, Vol. 70, No

Mapping and Localization in 3D Environments Using a 2D Laser Scanner and a Stereo Camera*