1 / 10

Accurate and Efficient Stereo Processing by Semi-Global Matching and Mutual Information

Accurate and Efficient Stereo Processing by Semi-Global Matching and Mutual Information. CVPR 05 Heiko Hirschmuller Presenter: Jonghee Park GIST CV-Lab. Introduction. Local stereo matching Local window based method Global stereo matching Dynamic programming Belief propagation Graph-cut

etenia
Download Presentation

Accurate and Efficient Stereo Processing by Semi-Global Matching and Mutual Information

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Accurate and Efficient Stereo Processing by Semi-Global Matching and Mutual Information CVPR 05 HeikoHirschmuller Presenter: JongheePark GIST CV-Lab.

  2. Introduction • Local stereo matching • Local window based method • Global stereo matching • Dynamic programming • Belief propagation • Graph-cut • Semi global matching Streaking in dynamic programming

  3. Semi Global Matching • Global energy minimization problem • D : disparity image, p : point, Dp : disparity of p, Np : neighborhood of p • Penalty setting • Minimizing 2D global minimization is NP-complete for discontinuity preserving energies data term smoothness term (slanted surface) smoothness term (depth discontinuity)

  4. Semi Global Matching • Dynamic programming • 1D optimization in a 2D image • But, suffer from streaking Streaking in dynamic programming

  5. Semi Global Matching • Aggregation • Lr : aggregation path • r : aggregation direction

  6. Semi Global Matching • Aggregation

  7. Semi global matching • Disparity Computation • Left-right consistency check • Median filter

  8. Comparison with different cost SAD + SGM ASW + SGM

  9. Comparison with different cost CENSUS + SGM CENSUS + SGM + LR-Check + Median

  10. Comparison with OpenCV SGBM OpenCV SGBM 16way SGM 8way

More Related