Modern Stereo Correspondence Algorithms : Investigation and Evaluation

• Main Author: Olofsson, Anders
• Format: Others
• Language: English
• Published: Linköpings universitet, Informationskodning 2010
• Subjects: stereo correspondence; stereo matching; cost function; cost aggregation; image segmentation; plane fitting; RANSAC; graph cuts; belief propagation; disparity; depth estimation; Computer Vision and Robotics (Autonomous Systems); Datorseende och robotik (autonoma system); Other Engineering and Technologies not elsewhere specified; Övrig annan teknik; Computational Mathematics; Beräkningsmatematik
• Online Access: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-57853

Many different approaches have been taken towards solving the stereo correspondence problem and great progress has been made within the field during the last decade. This is mainly thanks to newly evolved global optimization techniques and better ways to compute pixel dissimilarity between views. The most successful algorithms are based on approaches that explicitly model smoothness assumptions made about the physical world, with image segmentation and plane fitting being two frequently used techniques. Within the project, a survey of state of the art stereo algorithms was conducted and the theory behind them is explained. Techniques found interesting were implemented for experimental trials and an algorithm aiming to achieve state of the art performance was implemented and evaluated. For several cases, state of the art performance was reached. To keep down the computational complexity, an algorithm relying on local winner-take-all optimization, image segmentation and plane fitting was compared against minimizing a global energy function formulated on pixel level. Experiments show that the local approach in several cases can match the global approach, but that problems sometimes arise – especially when large areas that lack texture are present. Such problematic areas are better handled by the explicit modeling of smoothness in global energy minimization. Lastly, disparity estimation for image sequences was explored and some ideas on how to use temporal information were implemented and tried. The ideas mainly relied on motion detection to determine parts that are static in a sequence of frames. Stereo correspondence for sequences is a rather new research field, and there is still a lot of work to be made.