Stereo matching by census transform and support weight cost aggregation

摘要

An image matching apparatus includes a bilateral filter that filters a left image and a right image to output a second left image and a second right image; a census cost calculation unit performing census transform on a window based on a first pixel of the second left image and a window based on a second pixel of the second right image to calculate a census cost corresponding to a pair of pixels of the first and second pixels; a support weight calculation unit obtaining support weights of the left and right images or the second left and second right images; a cost aggregation unit obtaining energy values of nodes corresponding to the pair of pixels of the first and second pixels using the census cost and the support weights; and a dynamic programming unit performing image matching using dynamic programming by the energy values of each node obtained.

主权项

1. An image matching method, comprising:
generating a filtered left image and a filtered right image by performing bilateral filtering on a left image and a right image; calculating a census cost corresponding to pixels from the filtered images by performing a census transform on a window based on a pixel of the filtered left image and a window based on a pixel of the filtered right image; determining support weights of the left image and the right image; obtaining a product of the calculated census costs and a sum of the determined support weights as energy values for match nodes of a trellis structure used in dynamic programming for image matching, the match nodes corresponding to the pixel of the filtered left image and the pixel of the filtered right image; adjusting the obtained energy values based on the calculated census cost; and performing image matching using dynamic programming with the obtained energy values.