A Computational Approach to Edge Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms
International Journal of Computer Vision
Real-Time Correlation-Based Stereo Vision with Reduced Border Errors
International Journal of Computer Vision
Probabilistic Phase Based Sparse Stereo
ICPR '04 Proceedings of the Pattern Recognition, 17th International Conference on (ICPR'04) Volume 4 - Volume 04
Robust 3D SLAM with a stereo camera based on an edge-point ICP algorithm
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
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Edges are important features for tasks like object detection and vision-based navigation. In this paper, a novel real-time capable stereo edge refinement technique is presented. It propagates confidence and consistency along the detected edges, which reduces false matches significantly. Unmatched pixels are safely recovered by interpolation. We also investigate suitable support regions for edge-based matching. In the proposed solution, depth discontinuities are specifically accounted for. All approaches are extensively tested with the Middlebury benchmark datasets and compared to a sparse and several popular dense stereo algorithms.