Real-time local stereo via edge-aware disparity propagation》.pdf

Pattern Recognition Letters 49 (2014) 201–206 Contents lists available at ScienceDirect Pattern Recognition Letters journal homepage: www.else /locate/patrec Real-time local stereo via edge-aware disparity propagation q Xun Sun a,b,⇑, Xing Mei c, Shaohui Jiao b, Mingcai Zhou b, Zhihua Liu b, Haitao Wang b a Baidu Institute of Deep Learning, Beijing, China b China Lab, Samsung Advanced Institute of Technology, Beijing, China c NLPR, Institute of Automation, Chinese Academy of Sciences, Beijing, China a r t i c l e i n f o a b s t r a c t Article history: This letter presents a novel method for real-time local stereo matching. Different from previous methods Received 24 December 2013 which have spent many efforts on cost aggregation, the proposed method re-solves the stereo problem by Available online 1 August 2014 propagating disparities in the cost domain. It is started by pre-detecting the disparity priors, on which a new cost volume is built for disparity assignment. Then the reliable disparities are propagated via filter- Keywords: ing on this cost volume. Specially, a new Oð1Þ geodesic filter is proposed and demonstrated effective for Stereo matching the task of edge-aware disparity propagation. As can be expected, the proposed framework is highly effi- Disparity propagation cient, due to leaving double aggregation on left–right views, as well as costly post-processing steps, out of Edge-preserving