Accurate and efficient stereo processing by semi-global matching and mutual information

被引：1114

作者：

Hirschmüller, H ^{[1
]}

机构：

[1] DLR, German Aerosp Ctr, Inst Robot & Mechatron Oberpfafenhofen, D-82230 Wessling, Germany

来源：

2005 IEEE COMPUTER SOCIETY CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION, VOL 2, PROCEEDINGS | 2005年

关键词：

D O I：

10.1109/cvpr.2005.56

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper considers the objectives of accurate stereo matching, especially at object boundaries, robustness against recording or illumination changes and efficiency of the calculation. These objectives lead to the proposed Semi-Global Matching method that performs pixelwise matching based on Mutual Information and the approximation of a global smoothness constraint. Occlusions are detected and disparities determined with sub-pixel accuracy. Additionally, an extension for multi-baseline stereo images is presented. There are two novel contributions. Firstly, a hierarchical calculation of Mutual Information based matching is shown, which is almost as fast as intensity based matching. Secondly, an approximation of a global cost calculation is proposed that can be performed in a time that is linear to the number of pixels and disparities. The implementation requires just l second on typical images.

引用

页码：807 / 814

页数：8

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