English
资源说明：Abstract
This paper considers the objectives of accurate stereo
matching, especially at object boundaries, robustness
against recording or illumination changes and efciency of
the calculation. These objectives lead to the proposed Semi-
Global Matching method that performs pixelwise matching
based on Mutual Information and the approximation of a
global smoothness constraint. Occlusions are detected and
disparities determined with sub-pixel accuracy. Additionally,
an extension for multi-baseline stereo images is presented.
There are two novel contributions. Firstly, a hierarchical
calculation of Mutual Information based matching is
shown, which is almost as fast as intensity based matching.
Secondly, an approximation of a global cost calculation is
proposed that can be performed in a time that is linear to
the number of pixels and disparities. The implementation
requires just 1 second on typical images.
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