UCLA Extension Short Course.pptVIP

Stefano Soatto (c) 2002 UCLA Extension Short Course More on stereo and correspondence Window size Other constraints Smoothness: disparity usually doesn’t change too quickly. Unfortunately, this makes the problem 2D again. Solved with a host of graph algorithms, Markov Random Fields, Belief Propagation, …. Uniqueness constraint (each feature can at most have one match) Occlusion and disparity are connected. Feature-based Methods Conceptually very similar to Correlation-based methods, but: They only search for correspondences of a sparse set of image features. Correspondences are given by the most similar feature pairs. Similarity measure must be adapted to the type of feature used. Feature-based Methods: Features most commonly used: Corners Similarity measured in terms of: surrounding gray values (SSD, Cross-correlation) location Edges, Lines Similarity measured in terms of: orientation contrast coordinates of edge or line’s midpoint length of line Example: Comparing lines ll and lr: line lengths ql and qr: line orientations (xl,yl) and (xr,yr): midpoints cl and cr: average contrast along lines wl wq wm wc : weights controlling influence Dense Stereo Matching: Examples View extrapolation results input depth image novel view [Matthies,Szeliski,Kanade’88] Dense Stereo Matching Some other view extrapolation resultsinput depth image novel view Dense Stereo Matching Compute certainty map from correlations input depth map certainty map Ordering constraint Usually, order of points in two images is same. Is this always true? If we match pixel i in image 1 to pixel j in image 2, no matches that follow will affect which are the best preceding matches. Example with pixels (a la Cox et al.). Correspondence Problem 2 Correspondence fail for smooth surfaces There is currently no good solution to the correspondence problem Correspondence Problem 3 Regions without texture Highly Specular surfaces Translucent objects Stere