Patent ID: 8275195
Filing Date: 2012-09-25
Classification: G06K,G06T

Abstract:
1. A method for determining scattered disparity fields in stereo vision, comprising the steps of: capturing a first and a second image of a same scene from two different positions, so that at least one set of pixels of said first image is associated with a corresponding set of points on said second image; selecting at least one pixel in said first image; and determining a point of said second image associated with said pixel, wherein determining said point comprises minimising a cost function having as a variable a disparity vector between said pixel and said point and depending on a difference between the first and the second image in a window centered on said pixel and in a corresponding window centered on the point to be determined, said cost function comprising a term which depends in a monotonously increasing way on the distance of said point to be determined from an epipolar straight line in said second image associated with said pixel.