Fast cost aggregation for dense stereo matching

• Main Authors: CHARI MURALI RAMASWAMY, NAJAFI SHOUSHTARI SEYED HESAMEDDIN
• Format: Patent
• Language: Chinese; English
• Published: 11.05.2018
• Subjects: CALCULATING; COMPUTING; COUNTING; ELECTRIC COMMUNICATION TECHNIQUE; ELECTRICITY; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS; PICTORIAL COMMUNICATION, e.g. TELEVISION

Methods, systems, computer-readable media, and apparatuses for fast cost aggregation for dense stereo matching are presented. One example method includes the steps of receiving first and second imagesof a scene; rectifying the images; computing a cost volume based on the first and second images; subsampling the cost volume to generate a subsampled cost volume; for each pixel, p, in the subsampledcost volume, determining one or more local extrema in the subsampled cost volume for each neighboring pixel, q, within a window centered on the pixel, p; for each pixel, p, performing cost aggregation using the one or more local extrema; performing cross checking to identify matching pixels; and responsive to identifying unmatched pixels, performing gap-filling for the unmatched pixels to generate a disparity map; and generate and storing a depth map from the disparity map. 本发明呈现用于密集立体匹配的快速成本聚合的方法、系统、计算机可读媒体及设备。种实例性方法包含以下步骤：接收场景的第图像及第二图像；校正所述图像；基于所述第及第二图像而计算成本量；对所述成本量进行子取样以生成经子取样成本量；针对经子取样成本量中的每像素p，确定以所述像素p为中心的窗口内的每邻近