Efficient Dense Disparity Map Reconstruction using Sparse Measurements

Abstract

In this paper, we propose a new stereo matching algorithm able to reconstruct efficiently a dense disparity maps from few sparse disparity measurements. The algorithm is initialized by sampling the reference image using the Simple Linear Iterative Clustering (SLIC) superpixel method. Then, a sparse disparity map is generated only for the obtained boundary pixels. The reconstruction of the entire disparity map is obtained through the scanline propagation method. Outliers were effectively removed using an adaptive vertical median filter. Experimental results were conducted on the standard and the new Middlebury datasets show that the proposed method produces high-quality dense disparity results.