Accurate real-time stereo correspondence using intra- and inter-scanline optimization

作     者：Li YAO Dong-xiao LI Jing ZHANG Liang-hao WANG Ming ZHANG 

作者机构：Institute of Information and Communication EngineeringZhejiang UniversityHangzhou 310027China Zhejiang Provincial Key Laboratory of lnformation Network TechnologyHangzhou 310027China 

出 版 物：《Journal of Zhejiang University-Science C(Computers and Electronics)》 (浙江大学学报C辑（计算机与电子（英文版）)

年 卷 期：2012年第13卷第6期

页      面：472-482页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 080401[工学-精密仪器及机械] 0804[工学-仪器科学与技术] 080402[工学-测试计量技术及仪器] 

基　　金：supported by the National Natural Science Foundation of China (Nos. 60802013 and 61072081) the National Science and Technology Major Project of the Ministry of Science and Technology of China (No. 2009ZX01033-001-007) the China Postdoctoral Science Foundation (No. 20110491804) 

主　　题：tereo correspondence, Scanline optimization, Real time 

摘      要：This paper deals with a novel stereo algorithm that can generate accurate dense disparity maps in real time. The algorithm employs an effective cross-based variable support aggregation strategy within a scanline optimization framework. Rather than matching intensities directly, the use of adaptive support aggregation allows for precisely handling the weak textured regions as well as depth discontinuities. To improve the disparity results with global reasoning, we reformulate the energy function on a tree structure over the whole 2D image area, as opposed to dynamic programming of individual scanlines. By applying both intra- and inter-scanline optimizations, the algorithm reduces the typical streaking artifact while maintaining high computational efficiency. The experimental results are evaluated on the Middlebury stereo dataset, showing that our approach is among the best for all real-time approaches. We implement the algorithm on a commodity graphics card with CUDA architecture, running at about 35 fames/s for a typical stereo pair with a resolution of 384×288 and 16 disparity levels.