Occlusion aware stereo matching with o(1) complexity /

Gürbüz, Yeti Ziya
The problem of joint reduction of computational complexities of local stereo matching methods due to both cost aggregation step and correspondence search range is addressed and a novel hierarchical stereo matching algorithm is presented. The proposed approach exploits edge aware recursive volume filtering with a reduction on correspondence search range. The fastest state-of-the-art edge aware recursive filters are modified so that they become applicable to the methods to reduce the complexity in correspondence search range. In this way, complexities due to both cost aggregation step and correspondence search range are eliminated, yielding an O(1) complexity algorithm. In addition, the weakness of recursive filters in the presence of noise or high texture is handled by the help of a hierarchical scheme. Unlike common hierarchical methods, the transfer of the disparity estimates across the scales is converted into an optimization problem in order to preserve object boundaries and propagate proper estimates across scales. Dynamic programming is exploited to solve this optimization problem efficiently. The proposed transfer method can be utilized to transfer disparity across scales either in an image pyramid between stereo pairs or along frames in stereo video. The occlusion problem is solved inherently by the proposed approach that provides further decrease in complexity. The experimental results show that the proposed method provides quite efficient computation for stereo matching with a marginal decrease in performance. Compared to the state-of-the-art techniques, the proposed technique is possibly the fastest approach with a comparable accuracy based on benchmarking with Middlebury stereo pairs.


Sparse Recursive Cost Aggregation Towards O(1) Complexity Local Stereo Matching
Gürbüz, Yeti Ziya; Alatan, Abdullah Aydın (2015-05-19)
The complexity of the local stereo matching methods mainly increases with disparity search range and cost aggregation step. Joint elimination of the those complexity factors is a challenging task as a consequence of the contradicting nature of the methods attacking the reduction on the complexity factors. In this paper, that challenge is addressed and for the disparity search range reducing approaches, an efficient cost aggregation method is proposed by reformulating the filtering scheme of the recursive ed...
Sparse recursive filtering for O 1 stereo matching
Gürbüz, Yeti Ziya; Alatan, Abdullah Aydın (2015-09-30)
Recursive edge-aware filters have been proved to be one of the most efficient approaches for cost aggregation in stereo matching. However, disparity search space dependency, as a result of full search, is the bottle-neck of these local techniques that prevent further reduction in computation. In this paper, the cost aggregation and correspondence search problems are re-formulated to enable adaptive search for each pixel during recursive operations that provides significant reduction in computational complex...
Edge-Aware Stereo Matching with O(1) Complexity
Cigla, Cevahir; Alatan, Abdullah Aydın (2012-01-26)
In this paper, a novel local stereo matching algorithm is introduced, providing precise disparity maps with low computational complexity. Following the common steps of local matching methods, namely cost calculation, aggregation, minimization and occlusion handling; the time consuming intensity dependent aggregation procedure is improved in terms of both speed and precision. For this purpose, a novel approach, denoted as permeability filtering (PF), is introduced, engaging computationally efficient two pass...
Information permeability for stereo matching
Cigla, Cevahir; Alatan, Abdullah Aydın (Elsevier BV, 2013-10-01)
A novel local stereo matching algorithm is introduced to address the fundamental challenge of stereo algorithms, accuracy and computational complexity dilemma. The time consuming intensity dependent aggregation procedure of local methods is improved in terms of both speed and precision. Providing connected 2D support regions, the proposed approach exploits a new paradigm, namely separable successive weighted summation (SWS) among horizontal and vertical directions enabling constant operational complexity. T...
Camera trajectory estimation for indoor robot odometry using stereo images and inertial measurements
Horasan, Anıl; Aksel, Mehmet Haluk; Department of Mechanical Engineering (2016)
In this study, the development and implementation of an algorithm for stereo visual-inertial odometry are described. The study spans the complete process from analyzing the sensory data to the development of a robot odometry algorithm. The criteria for indoor visual-inertial odometry include using low-cost sensor systems, having an error less than five percent of the movement regardless of the distance covered, and building a robust algorithm in the presence of geometric and photometric invariances as well ...
Citation Formats
Y. Z. Gürbüz, “Occlusion aware stereo matching with o(1) complexity /,” M.S. - Master of Science, Middle East Technical University, 2014.