Fast Depth Estimation with Filters

Fast depth estimation from binocular vision is often desired for autonomous vehicles, but, most algorithms could not easily be put into practice because of the much time cost. We present an image-processing technique that can fast estimate depth image from binocular vision images. By finding out the lines which present the best matched area in the disparity space image, the depth can be estimated. When detecting these lines, an edge-emphasizing filter is used. The final depth estimation will be presented after the smooth filter. Our method is a compromise between local methods and global optimization.

Authors:

• Yiming Nie
• Tao Wu
• Xiangjing An
• Hangen He

Keywords:

• Depth estimation
• image filters
• stereo match.

References:

[1] D. S. a. R. S. a. R. Zabih, "A taxonomy and evaluation of dense two-frame
stereo correspondence algorithms," Daniel Scharstein, Richard Szeliski,
and Ramin Zabih. A taxonomy and evaluation of dense two-frame stereo
correspondence algorithms. In Proceedings of the IEEE Workshop on
Stereo and Multi-Baseline Vision, Kauai, HI, Dec. 2001., 2001.
[2] P. R. a. E. H. a. J. Biemond, "Synthesis of multi viewpoint images at nonintermediate
positions," P.A. Redert, E.A. Hendriks, and J. Biemond,
Synthesis of multi viewpoint images at non- intermediate positions,
Proceedings of ICASSP Munchen, Germany, pp. 2749-2752, 1997., 1997.
[3] A. D. a. P. T. a. S. R. a. R. Cipolla, "Combining Single View Recognition
and Multiple View Stereo for Architectural Scenes," pp. 268--274.
[4] G. V. M. a. M. V. a. M. P. a. L. V. Gool, "A Hierarchical Symmetric
Stereo Algorithm Using Dynamic Programming," G. Van Meerbergen, M.
Vergauwen, M. Pollefeys, and L. Van Gool. A Hierarchical Symmetric
Stereo Algorithm Using Dynamic Programming, International Journal of
Computer Vision, 47, 275-285, 2002., 2002.
[5] M. B. a. D. B. a. G. Hager, "Advances in computational stereo," BROWN
M. Z., BURSCHKA D., HAGER G. D.: Advances in computational
stereo. PAMI 25, 8 (Aug. 2003), 993--1008. 1, 2003.
[6] J. a. K. R. Woetzel, "Real-time multi-stereo depth estimation on GPU with
approximative discontinuity handling."
[7] http://en.wikipedia.org/wiki/Prewitt.