Error analysis of feature based disparity estimation

Authors:
Patrick A. Mikulastik;Hellward Broszio;Thorsten Thormählen;Onay Urfalioglu
Affiliations:
Information Technology Laboratory, University of Hannover, Germany;Information Technology Laboratory, University of Hannover, Germany;Information Technology Laboratory, University of Hannover, Germany;Information Technology Laboratory, University of Hannover, Germany
Venue:
PSIVT'06 Proceedings of the First Pacific Rim conference on Advances in Image and Video Technology
Year:
2006

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Abstract

For real-time disparity estimation from stereo images the coordinates of feature points are evaluated. This paper analyses the influence of camera noise on the accuracy of feature point coordinates of a feature point detector similar to the Harris Detector, modified for disparity estimation. As a result the error variance of the horizontal coordinate of each feature point and the variance of each corresponding disparity value is calculated as a function of the image noise and the local intensity distribution. Disparities with insufficient accuracy can be discarded in order to ensure a given accuracy. The results of the error analysis are confirmed by experimental results.