METHOD FOR DETECTING OBJECTS IN STEREO IMAGES

摘要

A method detects an object in a pair of stereo images acquired of a scene, by first generating a cost volume from the pair of stereo images, wherein the cost volume includes matching costs for a range of disparity values, for each pixel the sterao images, between the stereo images in the pair. Feature vectors are determined from sub-images in the cost volume using a feature function of the disparity values with a minimal accumulated cost within regions inside the sub-images. Then, a classifier is appled to the feature vectors to detect whether the sub-image includes the object.

主权项

1. A method for detecting an object in a pair of stereo images acquired of a scene, where each stereo image include pixels, comprising the steps of:
generating a cost volume from the pair of stereo images, wherein the cost volume includes matching costs for a range of disparity values, for each pixel, between the stereo images in the pair; determining feature vectors from sub-images in the cost volume using a feature function of the disparity values with a minimal accumulated cost within regions inside the sub-images; and applying a classifier to the feature vectors to detect whether the sub-images includes the object, wherein the steps are performed in a processor.