Fig. 1. Schematic of binocular ranging

Fig. 2. Schematic of homography transformation

Fig. 3. Schematic of depth correction

Fig. 4. Flow chart of depth map stitching algorithm

Fig. 5. Simulation results

Fig. 6. Real maps of binocular ranging module before and after moving. (a) After moving; (b) before moving

Fig. 7. Color images and depth maps before and after moving. (a) Left-view color image before moving; (b) left-view color image after moving; (c) depth map before moving; (d) depth map after moving

Fig. 8. Stitching results. (a) Color image; (b) depth map; (c) depth map after correction

Fig. 9. Depth correction images under different pixel heights. (a) 220; (b) 280; (c) 360; (d) 420