DocumentCode :
2594796
Title :
A stereo matching algorithm based on color segments
Author :
Cai, Xuanping ; Zhou, Dongxiang ; Li, Ganhua ; Zhuang, Zhaowen
Author_Institution :
Joint Center for Intelligent Sensing & Syst., Nat. Univ. of Defense Technol., Hunan, China
fYear :
2005
fDate :
2-6 Aug. 2005
Firstpage :
3372
Lastpage :
3377
Abstract :
Traditionally, the problem of stereo matching has been addressed either by a sparse feature-based approach or a dense area-based approach. This technique still suffers from a lack in accuracy or long computation time needed to match stereo images. In this paper, we employ color segments on scan lines of stereo images as primitives for matching, and introduce the widely used fuzzy set theory to the matching processes in order to handle ambiguities in matching. During the stage of accurate pixel correspondences of matched color segments, we use the technique of dynamic time warping (DTW), which is used in speech recognition. We found that DTW works robustly and rapidly regardless of the number of points to be matched. Covering more image space than point elements and providing more information than gray level features, color segments are less sensitive to noise and photometric variations and are thus more easily matched, and can reduce the false matches. Furthermore, a post-processing step can find more matches and alleviate the influence of under-segmentation or over-segmentation. A fast median filter can be applied to the results to further remove outliers. Experiments have been performed to demonstrate the accuracy and efficiency of the algorithm.
Keywords :
fuzzy set theory; image colour analysis; image matching; stereo image processing; color segments; dynamic time warping; fast median filter; fuzzy set theory; stereo matching; Color; Colored noise; Filters; Fuzzy set theory; Image segmentation; Noise level; Noise reduction; Noise robustness; Photometry; Speech recognition; color segments; disparity; dynamic time warping; stereo matching;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
Type :
conf
DOI :
10.1109/IROS.2005.1545106
Filename :
1545106
Link To Document :
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