Method of matching stereo images and method of measuring disparity between these image

  • US 5,867,591 A
  • Filed: 04/09/1996
  • Issued: 02/02/1999
  • Est. Priority Date: 04/21/1995
  • Status: Expired due to Fees
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First Claim
Patent Images

1. A method of detecting a disparity between stereo images, comprising the steps of:

  • dividing each of first and second images IL and IR into a plurality of blocks each having a size of M×

    L pixels;

    matching ternary-valued frequency component images of said images IL and IR;

    comparing pixels in a micro region defined by a one-dimensional window set on said first image IL with pixels in a designated micro region on said second image IR;

    evaluating a similarity between two micro regions using the following equation;

    
    
    space="preserve" listing-type="equation">Ε

    all=Σ

    β

    k(PN)k+Σ

    γ

    k(ZN)kwhere PN represents a total number of pixels having an evaluation result "P" while ZN represents a total number of pixels having an evaluation result "Z", and β

    k and γ

    k represent weighting factors;

    searching a first region having a most highest similarity and a second region having a second highest similarity in a concerned block;

    specifying a first candidate disparity as a disparity corresponding to said first region, and a second candidate disparity as a disparity corresponding to said second region;

    creating a histogram based on said first and second candidate disparities; and

    determining a valid disparity of said concerned block as a disparity corresponding to a peak position of said histogram.

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