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Accurate and Efficient Stereo Processing by Semi-Global Matching and Mutual Information

Hirschmüller, Heiko (2005) Accurate and Efficient Stereo Processing by Semi-Global Matching and Mutual Information. In: IEEE Conference on Computer Vision and Pattern Recognition, 2, pp. 807-814. IEEE. CVPR 2005, 2005-06-20 - 2005-06-25, San Diego. ISBN 0-76952372-2. ISSN 1063-6919

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Abstract

This paper considers the objectives of accurate stereo matching, especially at object boundaries, robustness against recording or illumination changes and efficiency of the calculation. These objectives lead to the proposed Semi-Global Matching method that performs pixelwise matching based on Mutual Information and the approximation of a global smoothness constraint. Occlusions are detected and disparities determined with sub-pixel accuracy. Additionally, an extension for multi-baseline stereo images is presented. There are two novel contributions. Firstly, a hierarchical calculation of Mutual Information based matching is shown, which is almost as fast as intensity based matching. Secondly, an approximation of a global cost calculation is proposed that can be performed in a time that is linear to the number of pixels and disparities. The implementation requires just 1 second on typical images.

Document Type:Conference or Workshop Item (Paper, Poster)
Title:Accurate and Efficient Stereo Processing by Semi-Global Matching and Mutual Information
Authors:
AuthorsInstitution or Email of Authors
Hirschmüller, HeikoUNSPECIFIED
Date:June 2005
Journal or Publication Title:IEEE Conference on Computer Vision and Pattern Recognition
Refereed publication:Yes
In ISI Web of Science:No
Volume:2
Page Range:pp. 807-814
Publisher:IEEE
ISSN:1063-6919
ISBN:0-76952372-2
Status:Published
Keywords:Stereo Vision
Event Title:CVPR 2005
Event Location:San Diego
Event Type:international Conference
Event Dates:2005-06-20 - 2005-06-25
Organizer:IEEE Computer Society
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W -- no assignement (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Dr.(PH.D.) Heiko Hirschmüller
Deposited On:17 Jan 2007
Last Modified:27 Apr 2009 05:05

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