Tailor made dynamic programming for edge matching

The authors present an edge pixel matching algorithm based on dynamic programming. Unlike classical dynamic programming methods, where a path is searched for across a graph of the whole space of edge pixels, the approach allows the optimal path to be within a constrained search space, and thus tremendously cutting off the searching time. The knowledge of the camera parameters lends itself to reduce the general problem of image-to-image correspondence problem into a scanline-to-scanline matching problem. That is, once a pair of stereo images is rectified so that the epipolar lines are horizontal scanlines, a pair of corresponding edges in the right and left images should be searched for only within the same horizontal scanlines