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浙江大学学报(工学版)
JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE)
Mechanical and Energy Engineering     
Stereo matching algorithm using improved guided filtering
WANG Zhi, ZHU Shi qiang, BU Yan, GUO Zhen min
1. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China;
2. Hangzhou Automation Technology Institute Co. Ltd, Hangzhou 310030, China
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Abstract  

An improved guided filter-based stereo matching algorithm was proposed to solve the problem of low accuracy and sensitivity to environmental change. The algorithm used the improved guiding filter to preprocess the raw images; the gradient of the preprocessed images was combined with the Census transform in the matching cost computation. Furthermore, an adaptive cross-based support window was constructed dependeding on the color similarity. The improved guided filter was adopted as the cost aggregation method. Accurate disparity maps were obtained after disparity refinement, which could achieve good performance in textureless regions. The experiments on the Middlebury and KITTI benchmark demonstrate that the proposed algorithm outperforms other filter-based methods, which has better robustness and can be used in outdoor applications. In addition, the computational complexity of the proposed method is independent on the window size, which has good real-time performance.

Published: 08 December 2016
CLC:  TN 911.73  
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Cite this article:

WANG Zhi, ZHU Shi qiang, BU Yan, GUO Zhen min. Stereo matching algorithm using improved guided filtering. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2016, 50(12): 2262-2269.

URL:

http://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2016.12.003     OR     http://www.zjujournals.com/eng/Y2016/V50/I12/2262


改进导向滤波器立体匹配算法

针对基于滤波器的立体匹配算法精度不高以及易受外界环境影响的问题,提出基于改进导向滤波器的立体匹配算法.在传统梯度向量中加入经过预处理后图像的梯度信息,结合Census变换计算匹配代价.构建自适应窗口,采用改进的导向滤波器聚合匹配代价|经过视差处理获得高精度的视差图,在低纹理区域能取得较好的匹配结果.实验结果表明,相比其他基于滤波器的立体匹配算法,该算法在Middlebury和KITTI平台上的测试结果具有更高的精度|对光照失真条件具有更好的鲁棒性,能应用于室外场合|计算复杂度与匹配窗口大小无关,具有较好的实时性.

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