Probabilistic choice between symmetric disparities in motion stereo matching for a lateral navigation system

Egor Ershov; Victor N. Karnaukhov; Mikhail G. Mozerov

doi:10.1117/1.OE.55.2.023101

2 February 2016 Probabilistic choice between symmetric disparities in motion stereo matching for a lateral navigation system

Egor Ershov, Victor N. Karnaukhov, Mikhail G. Mozerov

Author Affiliations +

Optical Engineering, Vol. 55, Issue 2, 023101 (February 2016). https://doi.org/10.1117/1.OE.55.2.023101

Abstract

Two consecutive frames of a lateral navigation camera video sequence can be considered as an appropriate approximation to epipolar stereo. To overcome edge-aware inaccuracy caused by occlusion, we propose a model that matches the current frame to the next and to the previous ones. The positive disparity of matching to the previous frame has its symmetric negative disparity to the next frame. The proposed algorithm performs probabilistic choice for each matched pixel between the positive disparity and its symmetric disparity cost. A disparity map obtained by optimization over the cost volume composed of the proposed probabilistic choice is more accurate than the traditional left-to-right and right-to-left disparity maps cross-check. Also, our algorithm needs two times less computational operations per pixel than the cross-check technique. The effectiveness of our approach is demonstrated on synthetic data and real video sequences, with ground-truth value.

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Egor Ershov, Victor N. Karnaukhov, and Mikhail G. Mozerov "Probabilistic choice between symmetric disparities in motion stereo matching for a lateral navigation system," Optical Engineering 55(2), 023101 (2 February 2016). https://doi.org/10.1117/1.OE.55.2.023101

Published: 2 February 2016

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