Local Stereo Matching: An Adaptive Weighted Guided Image Filtering-Based Approach

摘要

Innovative applications in rapidly evolving domains such as robotic navigation and autonomous (driverless) vehicles rely on binocular computer vision systems that meet stringent response time and accuracy requirements. A key problem in these vision systems is stereo matching, which involves matching pixels from two input images in order to construct the output, a 3D map. Building upon the existing local stereo matching algorithms, this paper proposes a novel stereo matching algorithm that is based on a weighted guided filtering foundation. The proposed algorithm consists of three main steps; each step is designed with the goal of improving accuracy. First, the matching costs are computed using a unique combination of complementary methods (absolute difference, Census, and gradient algorithms) to reduce errors. Second, the costs are aggregated using an adaptive weighted guided image filtering method. Here, the regularization parameters are adjusted adaptively using the Canny method, further reducing errors. Third, a disparity map is generated using the winner-take-all strategy; this map is subsequently refined using a densification method to reduce errors. Our experimental results indicate that the proposed algorithm provides a higher level of accuracy in comparison to a collection of the existing state-of-the-art local algorithms.