Disparity map acquisition with occlusion handling using warping constraint

In this paper, we propose a stereo matching algorithm with occlusion handling. In order to detect occlusion, we obtain an initial disparity map via optimization based on modified constant-space belief propagation (CSBP). Such a method is advantageous due to its low complexity. The initial disparity maps provide clue for occlusion detection. From such clue, an energy function for occlusion detection is defined and optimized by energy minimization framework. We classify occlusion into two types from the obtained occlusion map and apply suitable occlusion handling process, respectively. The proposed occlusion handling method based on the potential energy function extends disparity values of visible pixels to occluded pixels. Experimental results show that generated disparity map of the proposed method has satisfactory quality.