基于改进Census变换与颜色梯度融合的立体匹配

Stereo matching based on improved Census transform and color gradient fusion

针对立体匹配中传统Census变换窗口中心点易受外界环境影响以及部分深度不连续区域匹配精度较低的问题,提出了一种基于改进的Census变换和传播滤波的立体匹配算法.在初始匹配代价计算中将改进的Census变换与颜色,梯度代价进行融合;同时在代价聚合阶段引入传播滤波来保持视差空间图像边缘,不受传统局部算法窗口大小的影响;然后在视差处理部分采用"胜者为王"算法进行初始视差计算;在后面的视差优化部分采用左右一致性检测和中值滤波的方法来获得最终的视差图.在Middleburry上的测试实验表明:与传统的Census算法相比,本文算法匹配精度明显提高,且具有良好的实时性和很好的稳健性.

Aiming at the problem that the center point of the traditional Census transform window in stereo matching is easily affected by the external environment and the matching accuracy of some depth discontinuous regions is low,astereo matching algorithm based on improved Census transform and propagation filtering is proposed.In the initial matching cost calculation,the improved Census transform is fused with the color and gradient cost.At the same time,the propagation filter is introduced in the cost aggregation stage to maintain the edge of the parallax space image,which is not affected by the window size of the traditional local algorithm.Then,in the parallax processing part,the winner-takes-all(WTA)algorithm is used to calculate the initial parallax.In the following disparity optimization part,the method of left and right consistency detection and median filtering is used to obtain the final disparity map.Experimental results on Middleburry show that,compared with the traditional Census algorithm,the matching accuracy of the proposed algorithm is significantly improved,and the algorithm has good real-time performance and robustness.