Stereo Matching

A GUI demonstrates an efficient stereo matching algorithm.

Description

 FAST MATLAB STEREO MATCHING ALGORITHM (SAD)

This function performs the computationally expensive step of matching two rectified and undistorted stereo images. The output is a dense disparity map. If camera parameters are known, this allows for three dimensional reconstruction.

Two graphical user interfaces demonstrate the algorithm.

Please note this function requires the Image Processing Toolbox!

[spdmap, dcost, pcost, wcost] = stereomatch(imgleft, imgright, windowsize, disparity, spacc)

The standard images included are from
[1] D. Scharstein and R. Szeliski. A taxonomy and evaluation of dense two-frame stereo correspondence algorithms. International Journal of Computer Vision, 47(1/2/3):7-42, April-June 2002.
[2] D. Scharstein and R. Szeliski. High-accuracy stereo depth maps using structured light. In IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR 2003), volume 1, pages 195-202, Madison, WI, June 2003.

Please do provide feedback.

• Required Products: Image Processing Toolbox
• MATLAB release: MATLAB 7.4 (R2007a)
• Other requirements: Image Processing Toolbox

[Aaron Wetzler]

Please give instructions on how to run. Code doesnt run nor do fig files.

[Yang Li]

The file works very well. Just run stereovision.m it will come up with a GUI.

[sas]

good

[Vishnu]

This program shows a disparity map but if i want to save the disparity map to a file how can I do that ?

[Hossein Babaee]

 

[David Provencher]

There seems to be an error in the integral image technique. The filtering window should be

h = zeros(WS+2,WS+2,'double');
h(1,1) = 1; h(1,WS-1) = -1;
h(WS-1,1) = -1; h(WS-1,WS-1) = 1;

that is, for a 3x3 summing window, the filtering window must be 5x5 to implement the algorithm correclty (see http://en.wikipedia.org/wiki/Summed_area_table#The_algorithm and note that points A, B and C are outside the summing window)

I tested this with a simple matrix for validation. Otherwise, thanks for the useful code.

[Yiting]