Summary: An intensity­based cooperative bidirectional stereo matching with
simultaneous detection of discontinuities and occlusions
A. Luo and H. Burkhardt
Technische Informatik I
Technische Universit¨at Hamburg­Harburg
Postfach 90 10 52, 21071 Hamburg, Germany
Abstract
This paper presents a new intensity­based stereo algorithm using cooperative bi­
directional matching with a hierarchical multilevel structure. Based on a new model
of piecewise smooth depth fields and the consistency constraint, the algorithm is able
to estimate the 3­D structure and detect its discontinuities and the occlusion reliably
with low computational costs. In order to find the global optimal estimates, we utilize
a multiresolution two­stage algorithm minimizing nonconvex cost functions, which is
equivalent to the MAP estimation. This basic framework computing the 3­D structure
from binocular stereo images has been extended to the trinocular stereo vision for a
further improvement of the performance. A few examples for the binocular and trino­
cular stereo problems are given to illustrate the performance of the new algorithms.
Keywords: binocular and trinocular stereo, cooperative bidirectional matching, dis­
continuity and occlusion, MAP estimation and multiresolution.
1 Introduction

Source: Albert-Ludwigs-Universität Freiburg, Institut für Informatik,, Lehrstuhls für Mustererkennung und Bildverarbeitung

Collections: Computer Technologies and Information Sciences