Hardware disparity evaluation for stereo matching

摘要

A method for calculating disparity in a pair of images includes receiving a first image of a scene and designating the first image as a master image. A second image of the scene is received, and the second image is designated as a slave image. The master image is binarized to produce a binarized master image. The slave image is binarized to produce a binarized slave image. A matching cost associated with matching each pixel within the binarized master image with a corresponding set of candidate pixels within the binarized slave image is calculated. A probability density function is created based on the calculated matching costs associated with each pixel within the binarized master image. The created probability density function is used to produce a disparity for the master image and the slave image and to produce a confidence for the produced disparity.