发明名称 |
Disparity estimation for misaligned stereo image pairs |
摘要 |
A disparity vector for a pixel in a right image corresponding to a pixel in a left image in a pair of stereo images is determined. The disparity vector is based on a horizontal disparity and a vertical disparity and the pair of stereo images is unrectified. First, a set of candidate horizontal disparities is determined. For each candidate horizontal disparity, a cost associated with a particular horizontal disparity and corresponding vertical disparities is determined. The vertical disparity associated with a first optimal cost is assigned to each candidate horizontal disparity, so that the candidate horizontal disparity and the vertical disparity yield a candidate disparity vector. Lastly, the candidate disparity vector with a second optimal cost is selected as the disparity vector of the pixel in the right image. |
申请公布号 |
US8867826(B2) |
申请公布日期 |
2014.10.21 |
申请号 |
US201213684760 |
申请日期 |
2012.11.26 |
申请人 |
Mitusbishi Electric Research Laboratories, Inc. |
发明人 |
Rzeszutek Richard;Tian Dong;Vetro Anthony |
分类号 |
G06K9/00;G06T7/00 |
主分类号 |
G06K9/00 |
代理机构 |
|
代理人 |
Brinkman Dirk;Vinokur Gene |
主权项 |
1. A method for determining a disparity vector for a pixel in a right image corresponding to a pixel in a left image in a pair of stereo images, wherein the disparity vector is based on a horizontal disparity and a vertical disparity and the pair of stereo images is unrectified, comprising the steps of:
determining a set of candidate horizontal disparities; calculating, for each candidate horizontal disparity, a cost associate with a particular horizontal disparity and corresponding vertical disparities; assigning the vertical disparity associated with a first optimal cost to each candidate horizontal disparity, wherein the candidate horizontal disparity and the vertical disparity yield a candidate disparity vector, and wherein the optimal cost is a least cost determined by a matching function C(x, y|i, j) for a horizontal disparity in a bounded horizontal range x−search≦i≦+xsearch and for a vertical disparity in a bounded vertical range y−search≦j≦ysearch, and wherein i is a horizontal offset and i is a vertical offset for a pixel in the image at a location (x, y); and selecting the candidate disparity vector with a second optimal cost as the disparity vector of the pixel in the right imager, and wherein the second optimal cost is a least cost determined by the matching function C(x, y|i, j). |
地址 |
Cambridge MA US |