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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.
| Item URL in elib: | https://elib.dlr.de/22952/ | ||||||||
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| Document Type: | Conference or Workshop Item (Paper, Poster) | ||||||||
| Title: | Accurate and Efficient Stereo Processing by Semi-Global Matching and Mutual Information | ||||||||
| Authors: |
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| Date: | June 2005 | ||||||||
| Journal or Publication Title: | IEEE Conference on Computer Vision and Pattern Recognition | ||||||||
| Refereed publication: | Yes | ||||||||
| Open Access: | No | ||||||||
| Gold Open Access: | No | ||||||||
| In SCOPUS: | No | ||||||||
| 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 Start Date: | 20 June 2005 | ||||||||
| Event End Date: | 25 June 2005 | ||||||||
| Organizer: | IEEE Computer Society | ||||||||
| HGF - Research field: | Aeronautics, Space and Transport (old) | ||||||||
| HGF - Program: | Space (old) | ||||||||
| HGF - Program Themes: | W - no assignment | ||||||||
| DLR - Research area: | Space | ||||||||
| DLR - Program: | W - no assignment | ||||||||
| DLR - Research theme (Project): | W - no assignment (old) | ||||||||
| Location: | Oberpfaffenhofen | ||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | ||||||||
| Deposited By: | Hirschmüller, Dr.(PH.D.) Heiko | ||||||||
| Deposited On: | 17 Jan 2007 | ||||||||
| Last Modified: | 24 Apr 2024 19:04 |
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