Hierarchical Stereo Matching Using Chromatic Information

Abstract

The key issue in making stereo vision practical is to find a combination of algorithms and hardware that led to reliable, real-time range estimation with a computer system small enough to use on robotic vehicles. In this paper, a matching algorithm to solve the central problem of binocular stereo vision systems is proposed. The algorithm utilizes two primitives of different abstraction undera hierarchical scheme: regions and linear edge segments. The hierarchical scheme greatly improves the efficiency because provides only the needed depth information with the needed degree of resolution. Chromatic information has been used. Color significantly reduces the ambiguity between potential matches and increases the accuracy of the resulting matches.