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Passive ranging via stereo triangulation, or<jats:italic>stereo vision<\/jats:italic>, is a very attractive approach to obstacle detection because it is nonemissive, nonmechanical, nonscanning, and compatible with stereographic viewing by human operators. However, several problems have restricted the practicality of stereo ranging in the past, including limitations on the speed, reliability, and generality of existing stereo matching algorithms. This situated has changed, because the Jet Propulsion Laboratory (JPL) recently demonstrated the first semi\u2010autonomous, robotic traverses of natural terrain to use stereo vision for obstacle detection, with all computing onboard the vehicle. This article reviews the main algorithmic paradigms for stereo vision, describes a near realtime stereo vision system developed at JPL, and presents experimental results that demonstrate the emerging practically of stereo vision for obstacle detection in semi\u2010autonomous land navigation. \u00a9 1992 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620090607","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:14:33Z","timestamp":1183727673000},"page":"787-816","source":"Crossref","is-referenced-by-count":9,"title":["Passive stereo range imaging for semi\u2010autonomous land navigation"],"prefix":"10.1002","volume":"9","author":[{"given":"Larry","family":"Matthies","sequence":"first","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1007\/BF00133032"},{"volume-title":"Stereo vision for planetary rovers: Stochastic modeling to near real\u2010time implementation","year":"1991","author":"Matthies L. 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