METHOD FOR DETERMINING SCATTERED DISPARITY FIELDS IN STEREO VISION

摘要

In a system (100) for stereo vision comprising two cameras (T₁, T₂) shooting the same scene, a method is performed for determining scattered disparity fields when the epipolar geometry is known, which comprises the steps of: capturing, through the two cameras, a first and second image (IM₁, IM₂) of the scene from two different positions; selecting at least one pixel in the first image, said pixel being associated with a point of the scene and the second image containing a point also associated with the above point of the scene; and computing the displacement from said pixel to said point in the second image minimising a cost function, such cost function comprising a term which depends on the difference between the first and the second image and a term which depends on the distance of the above point in the second image from an epipolar straight line, and a following check whether it belongs to an allowability area around a subset to the epipolar straight line in which the presence of said point is allowed, in order to take into account errors or uncertainties in calibrating the cameras.