Stereo Matching with Multi-scale Based on Anisotropic Match Cost

摘要

Binocular vision is a popular method for 3d measurement, but the precision and efficiency is still a limitation. In order to solve the problem of low precision and high mismatching rate of current stereo match methods in weak texture region, a local stereo matching algorithm with multi-scale based on anisotropic match cost was proposed. Not only including the gray value between the adjacent pixels as the absolute difference (AD) method, the matching cost function also involved gradient and phase information to make an anisotropic evaluation and eliminate the outliers of the flat area. Meanwhile, a multi-scale strategy with the image pyramid was referenced, and the dynamic disparity search range of variable window was used on the original cost aggregation framework by improving the stereo matching algorithm of cross-scale cost aggregation. The matching cost volume in each scale space used the dynamic support window to guide the filter to aggregate the matching cost. Finally, to overcome the problems of disparity selection ambiguity of WTA (winner-take-all) strategy and the horizontal fringe introduced by left-right consistency (LRC) detection, the weighted median filter based on guided filter weight was used to carry out disparity refinement. According to the experiments, the method got more high matching accuracy, and the average error on the Middlebury test platform reached 5.25%.