Method and apparatus for feature-based stereo matching
First Claim
1. A method for stereo matching of a reference image and at least one comparative image captured from different points of view using a computer device, comprising:
- collecting the reference image and the at least one comparative image;
extracting feature points from the reference image;
tracking points corresponding to the feature points in the at least one comparative image using an optical flow technique; and
generating a depth map according to correspondence-point tracking results,wherein the extracting of the feature points includes;
extracting points within a fixed ranking by calculating unique values of a gradient matrix G in positions of the reference image and arranging points in descending order for a smaller unique value between two unique values produced as calculations results.
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Abstract
Disclosed are a method and apparatus for feature-based stereo matching. A method for stereo matching of a reference image and at least one comparative image captured by at least two cameras from different points of view using a computer device includes collecting the reference image and the at least one comparative image, extracting feature points from the reference image, tracking points corresponding to the feature points in the at least one comparative image using an optical flow technique, and generating a depth map according to correspondence-point tracking results.
18 Citations
9 Claims
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1. A method for stereo matching of a reference image and at least one comparative image captured from different points of view using a computer device, comprising:
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collecting the reference image and the at least one comparative image; extracting feature points from the reference image; tracking points corresponding to the feature points in the at least one comparative image using an optical flow technique; and generating a depth map according to correspondence-point tracking results, wherein the extracting of the feature points includes;
extracting points within a fixed ranking by calculating unique values of a gradient matrix G in positions of the reference image and arranging points in descending order for a smaller unique value between two unique values produced as calculations results. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for stereo matching of a reference image and at least one comparative image captured from different points of view using a computer device, comprising:
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collecting the reference image and the at least one comparative image; generating at least one lower resolution version of the reference image and at least one comparative image, having successively lower pre-determined resolution than the corresponding reference image and at least one comparative image; extracting first feature points from a version of the reference image; tracking first correspondence points corresponding to the first feature points in a version of the at least one comparative image using an optical flow technique; extracting second feature points from a version of the at least one comparative image; tracking second correspondence points corresponding to the second feature points in a version of the reference image, using the optical flow technique; and generating a depth map by synthesizing tracking results of the first and second correspondence points, wherein the extraction of the first and second feature points and the tracking of the first and second correspondence points are started for images having lowest resolution and finally performed for images having original resolution. - View Dependent Claims (9)
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Specification