Author_Institution :
Coll. of Electron. Inf. & Control Eng., Beijing Univ. of Technol., Beijing, China
Abstract :
The algorithm presented here is used on unmanned aerial vehicles system. In 2013,C.Stentousmis proposed a matching cost computation model(or function), This matching cost model combined three kinds of constraints, the cost function is formulated by combining three individual costs:a cost computed on an extended census transformation of the images, the absolute difference cost, taking into account information from colour channels, and a cost based on the principal image derivatives.Experiments show that the cost function is excellent performance in similar estimates.Apply it to the stereo matching of ancient buildings, it is favorable for practical. However, this experiment, in color mutated region, leaded to blurred border.Therefore, our proposed method added color space structural information, which based on HVS Weber´s law, to the cost function. we use the differential excitation of WLD reflects the structure of color space.This robust cost measures can reduce percent of bad pixels in mutated color region. The proposed method use color image, which is used after epipolar line rectification.
Keywords :
aerospace computing; autonomous aerial vehicles; control engineering computing; image colour analysis; image matching; robot vision; stereo image processing; HVS Weber law; WLD differential excitation; absolute difference cost; color image; color mutated region; color space structural information; colour channels; cost function; epipolar line rectification; image census transformation; matching cost computation model; principal image derivatives; stereo matching algorithm; unmanned aerial vehicles system; Computed tomography; Cost function; Image color analysis; Robustness; Skeleton; Stereo vision; Transforms; Census; The stereo matching of color image; Weber´s law;