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Advances in Theory and Applications of Stereo Vision Part 4

Tham khảo tài liệu 'advances in theory and applications of stereo vision part 4', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Markov Random Fields in the Context of stereo Vision 65 a b Fig. 22. Pentagon stereo pair a Left image b Right image. will be calculated. A window at each side of the edge is considered to calculate the normalized cross-covariance. The outcomes of this measure at each side of the edge are considered to be independent. Recall that we consider that the image intensity levels are of Gaussian nature and that these variables are affected by Gaussian noise in one of the images. Then the asymmetric beta function can be used to model the behavior of the normalized-cross-covariance. For the rectified stereo pair pentagon shown in Fig. 7 c and d table 3 shows the size of the images the number of features nodes and labels selected to establish correspondence Fig. 23 and the approximate ratio . Pentagon Size Selected features Zo 0.01 Rows 512 Columns 512 Left image 26491 Right image 28551 Baseball 512 512 23762 24809 0.15 Table 3. Real world images In order to establish the correspondence in the pentagon stereo pair the horizontal search range is 15 pixels and the neighborhood of a node 7Z j is composed of the nodes ranging less than 25 pixels from ìiị the neighborhood area is a superellipse with a b 25 and p 2 . Fig. 23. Nodes and labels selected in the pentagon stereo pair to establish the correspondence a Left image nodes b Right image labels . 66 Advances in Theory and Applications of stereo Vision b Fig. 24. Disparity map for the pentagon stereo pair obtained using the normalized-cross-covariance. a Matched points b Top view with coded disparity of the disparity map interpolated using planar patches Bradley Vickers 1993 . Fig. 24 a shows the disparity map obtained using only the likelihood information the normalized cross-covariance. Fig. 24 b shows a top view of the interpolated disparity map Bradley Vickers 1993 planar patches are grown around each matched node with coded disparity brighter color for larger disparity . Observe the noisy disparity map obtained. Fig. 25 a