SUSAN window based cost calculation for fast stereo matching

Authors:
Kyu-Yeol Chae;Won-Pyo Dong;Chang-Sung Jeong
Affiliations:
Department of Electronics Engineering, Korea University, Seoul, Korea;Department of Electronics Engineering, Korea University, Seoul, Korea;Department of Electronics Engineering, Korea University, Seoul, Korea
Venue:
CIS'05 Proceedings of the 2005 international conference on Computational Intelligence and Security - Volume Part II
Year:
2005

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Abstract

This paper presents a fast stereo matching algorithm using SUSAN window. The response of SUSAN window is used to calculate the dissimilarity cost. From this dissimilarity cost, an initial match can be found. Then, with this initial match, a dynamic programming algorithm searches for the best path of two scan lines. Since the proposed dissimilarity cost calculation method is very simple, and does not make use of any complicated mathematic formula, its running time is almost as same as SAD in the fixed window. In addition, the proposed matching algorithm only has two control parameters, bright threshold and occlusion penalty, which make it to be easily optimized.