Post processing for dense stereo matching by iterative local plane fitting

Disparity refinement is an essential step of local stereo matching methods to produce fine dense disparity maps. The inherent defect of local stereo methods results in erroneous disparity in occluded areas. In this paper, we present a novel post processing method which can effectively improve the accuracy of dense disparity maps by rectifying disparity errors iteratively. Invalid disparities are first detected by left-right consistency check and color-disparity consistency check. For each invalid pixel, supports from valid pixels in the neighborhood are collected to determine the plane parameters of the local window. An iterative strategy is adopted to gradually propagate disparity information from valid pixels to invalid areas. We apply the proposed method to disparity maps produced by two recent stereo matching methods, and compare the refining results with other post processing methods. Experimental results show the effectiveness of our method in improving dense disparity maps.