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Small Vision System User Manual 37

These first three options change the camera geometry, and thus have a corresponding effect on the

range resolution, which decreases (see below). The only way to increase the horopter size and maintain

range resolution is to increase the disparity search window size, which leads to more computation.

Multiresolution methods, which use several sizes of an image, each with its own horopter, are one way to

minimize computation (see, for example, the paper by Iocchi and Konolige at