The Real-Time Depth Map Obtainment Based on Stereo Matching

Abstract

The depth measurement according stereo vision is a very popular method of measuring the depth information. But the calculation in stereo matching is large, time-consuming and in large errors in matching, when used in real-time systems to obtain depth information are often ineffective. This paper improves one of the local matching algorithms, builds a complete real-time system for calculating depth image with different SAD (Sum of Absolute Differences) matching window in different texture regions. In this paper, we capture images from the Bumblebee2 stereoscopic camera which mounted on a small unmanned car, then use Matlab calibrating the camera and do the calculation to correct the raw images and do stereo matching in VS2010 to get the depth map. This method is simple, real-time performance and adaptability, and the quality of the depth map calculated from this method is somewhat improved.