A topological stereo matcher

摘要

Presented here is a new stereo algorithm that produces dense, high-quality, subpixel disparity maps. It offers two improvements over previous algorithms. First, it does not blur disparity values across sharp changes in depth. Second, it can reconstruct the correct correspondence between two images even when there is substantial vertical displacement between them: this algorithm has been tested with rotations up to 10 degrees and vertical translations up to 16 pixels. Although such image pairs require extra processing time, this ability is vital when exact calibration cannot be maintained.