Stereo matching based on robust likelihoods and MST leveraged smoothness priors

Abstract

This paper proposes a global stereo correspondence using robust matching likelihoods and minimum spanning tree (MST) leveraged smooth priors in a probabilistic graphical model framework. The matching likelihoods of the stereo correspondence can be robustly constructed as data term by aggregating initial matching costs from Weber local descriptors using an unsymmetrical guided filtering in a linear model. The disparity priors are devised as smooth term to characterize the smoothness constraints leveraged by the MST structure. The presented stereo approach provides an effective and efficient way to reflect robust visual dissimilarity and resolve local and regional discontinuities. Experiments demonstrate that the proposed global stereo matching method can produce piecewise smooth, accurate and dense disparity map, while removing effectively the visual ambiguity of the stereo matching problem.