基于PatchMatch的半全局高效双目立体匹配算法

Efficient Semi-global Binocular Stereo Matching Algorithm Based on PatchMatch

近年来双目立体匹配技术发展迅速,高精度、高分辨率、大视差的应用需求无疑对该技术的计算效率提出了更高的要求。由于传统立体匹配算法固有的计算复杂度正比于视差范围,已经难以满足高分辨率、大视差的应用场景。因此,从计算复杂度、匹配精度、匹配原理等多方面综合考虑,提出了一种基于PatchMatch的半全局双目立体匹配算法,在路径代价计算过程中使用空间传播机制,将可能的视差由整个视差范围降低为t个候选视差(t远远小于视差范围),显著减少了候选视差的数量,大幅提高了半全局算法的计算效率。对KITTI2015数据集的评估结果表明,该算法以5.81%的错误匹配率和20.2 s的匹配时间实现了准确性和实时性的明显提高。因此,作为传统立体匹配改进算法,该设计可以为大视差双目立体匹配系统提供高效的解决方案。

In recent years,the binocular stereo matching has developed rapidly.The application of high accuracy,high resolution and large disparity put forward higher requirement for the computational efficiency.Since the computational complexity inherent in the traditional stereo matching algorithm is proportional to the disparity range,it has been difficult to meet the high resolution and large disparity applications.Considering the pros and cons of several types of stereo matching algorithms from the aspects of computational complexity,an efficient semi-global stereo matching algorithm based on PatchMatch through the effective combination of the two algorithms is proposed.It significantly reduces the computational complexity of the original SGM algorithm,since it reduces the possible disparity with only agroup of best t candidate disparities(t is much smaller than the disparity range)instead of the whole disparity range by means of the PatchMatch spatial propagation scheme.The evaluation results on KITTI2015 dataset demonstrate that the proposed algorithm achieves a significant improvement in accuracy and real-time performance with an 5.81%error matching rate and a matching time of 20.2 seconds.Therefore,as an improved algorithm for traditional stereo matching,this design can provide an efficient solution for large disparity binocular stereo matching system.