Title :
Intensity and feature based stereo matching by disparity parameterization
Author :
Wei, Guo-Qing ; Hirzinger, Gerd
Author_Institution :
Inst. of Robotics & Syst. Dynamics, Aerosp. Res. Establ., Oberpfaffenhofen, Germany
Abstract :
In this paper, we propose a new solution to the stereo correspondence problem by including features an intensity based matching. The features we use are intensity gradients in both the x and y directions of the left and the deformed right images. Although a uniform smoothness constraint is still used, it is nevertheless applied only to non-feature regions. To avoid local minima in function minimization, we propose to parameterize the disparity function by hierarchical Gaussians. A simple stochastic gradient method is used to estimate the Gaussian weights. Experiments with various real stereo images show robust performances
Keywords :
image matching; stereo image processing; Gaussian weights; disparity parameterization; function minimization; intensity gradients; stereo correspondence; stereo images; stereo matching; uniform smoothness constraint; Aerodynamics; Cameras; Gradient methods; Humans; Interpolation; Machine vision; Robots; Robustness; Stereo vision; Stochastic processes;
Conference_Titel :
Computer Vision, 1998. Sixth International Conference on
Conference_Location :
Bombay
Print_ISBN :
81-7319-221-9
DOI :
10.1109/ICCV.1998.710844