Dense Disparity Map Estimation Respecting Image Discontinuities : A PDE and Scale-Space Based ApproachReportar como inadecuado




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1 ROBOTVIS - Computer Vision and Robotics CRISAM - Inria Sophia Antipolis - Méditerranée 2 Departamento de Informatica y Sistemas 3 Institute of Computer Engineering Mannheim

Abstract : We present an energy based approach to estimate a dense disparity map between two images while preserving its discontinuities resulting from image boundaries. We first derive a simplified expression for the disparity that allows us to easily estimate it from a stereo pair of images using an energy minimization approach. We assume that the epipolar geometry is known, and we include this information in the energy model. Discontinuities are preserved by means of a regularization term based on the Nagel-Enkelmann operator. We investigate the associated Euler-Lagrange equation of the energy functional, and we approach the solution of the underlying partial differential equation PDE using a gradient descent method. In order to reduce the risk to be trapped within some irrelevant local minima during the iterations, we use a focusing strategy based on a linear scale-space. We prove the existence and uniqueness of the underlying parabolic partial differential equation. Experimental results on both synthetic and real images are presented to illustrate the capabilities of this PDE and scale-spac- e based method.

keyword : STEREOSCOPIC VISION DISPARITY MAP ANISOTROPIC DIFFUSION SCALE-SPACE PARTIAL DIFFERENTIAL EQUATIONS REGULARIZATION FINITE DIFFERENCE METHODS





Autor: Luis Alvarez - Rachid Deriche - Javier Sánchez - Joachim Weickert -

Fuente: https://hal.archives-ouvertes.fr/



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