Fig. 1. Framework of system

Fig. 2. Flowchart of optimization algorithm

Fig. 3. Example of stereo matching in KITTI01 sequence. (a) Features in left image; (b) features in right image

Fig. 4. Example of image segmentation in KITTI01 sequence

Fig. 5. Feature plane extracted in an image block

Fig. 6. Example of feature re-matching

Fig. 7. Binocular stereoscopic imaging model

Fig. 8. Scenes of KITTI 01 sequence

Fig. 9. Comparison of the number of local stereo match points in left and right images (a) before and (b) after optimization

Fig. 10. Number of stereo matching points in KITTI 01 sequence

Fig. 11. Comparison of error of KITTI 01 sequence

Fig. 12. Accuracy comparison of different algorithms in KITTI 11 sequence

Fig. 13. (a) Electric hunting cart; (b) BumbleBee2 binocular camera

Fig. 14. Part of the experimental scene. (a) Weak texture environment; (b) moving pedestrians and vehicles; (c) shadow, exposure and other light changes

Fig. 15. Results of actual scene experiment