The method of calculating the dense parallax place in stereovision

摘要

In a stereo vision system comprising two cameras shooting the same scene from different positions, a method is performed for determining dense disparity fields between digital images shot by the two cameras, including the steps of capturing a first and a second image of the scene, and determining, for each pixel of the second image, the displacement from a point in the first image to such pixel of the second image minimizing an optical flow objective function, wherein the optical flow objective function includes, for each pixel of the second image, a term depending in a monotonously increasing way on the distance between the epipolar line associated with such pixel and the above point in the first image, such term depending on calibration parameters of the two cameras and being weighed depending on the uncertainty of the calibration data.