| 摘要 |
A method and apparatus for measuring stereo image disparity, for use in a 3-D modelling system. The method includes processing left and right camera images to form an image pyramid, calculating a disparity map at the coarsest level in the pyramid, and using this disparity map to carry out a warping operation on one of the images at the next-coarsest level, prior to calculating a disparity map for that level. This process is repeated for each subsequent pyramid level, at each level using the disparity map obtained at the previous level for carrying out the warping process, until a final disparity map for the least coarse pair of images in the pyramid is obtained. A computer program product for implementing this method is claimed, as well as a new method and apparatus for calibrating the cameras. |
