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2006 Technical Reports

Coarse-to-Fine Stereo Vision with Accurate 3-D Boundaries

Mikhail Sizintsev and Richard P. Wildes

Technical Report CS-2006-07

York University

June 28, 2006


This paper presents methods for recovering accurate binocular disparity estimates in the vicinity of 3-D surface discontinuities. Of particular concern are methods that impact coarse-to-fine, local block-based matching as it forms the basis of the fastest and the most resource efficient stereo computation procedures. Several advances are put forth. First, a novel coarse-to-fine refinement that adapts match window support across scale to ameliorate corruption of disparity estimates near boundaries is presented; a detailed analysis of coarse-to-fine 3-D boundary processing is given as well. Second, a novel formulation of half-occlusion cues within the coarse-to-fine block matching framework is described; the relation of the proposed solution to previous methods is extensively discussed. Third, the use of colour or intensity segmentation for better recovery of 3-D boundaries is investigated; a formulation specific to a coarse-to-fine local block-based matching is given. Further, a novel generalization to texture-based segmentation in stereo matching is described. Empirical results show that incorporation of these advances in the standard coarse-to-fine, block matching framework reduces disparity errors by a factor of two, while performing little extra computation and preserving the parallel/pipeline nature of the framework.

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