| 摘要 |
A method, an apparatus, and a computer program product for three-dimensional shape estimation using constrained disparity propagation are presented. An act of receiving a stereoscopic pair of images of an area occupied by at least one object is performed. Next, pattern regions and non-pattern regions are detected in the images. An initial estimate of spatial disparities between the pattern regions in the images is generated. The initial estimate is used to generate a subsequent estimate of the spatial disparities between the non-pattern regions. The subsequent estimate is used to generate further subsequent estimates of the spatial disparities using the disparity constraints until there is no change between the results of subsequent iterations, generating a final estimate of the spatial disparities. A disparity map of the area occupied by at least one object is generated from the final estimate of the three-dimensional shape.
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