stereo matching立体匹配 图片3

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Learning Conditional Random Fields for Stereo.pdf及Evaluation of Cost Functions for Stereo Matching.pdf,及实验素材原始图片
立体匹配实验素材3.zip
  • Laundry-7views.zip
    1.6MB
  • Moebius-7views.zip
    1.9MB
  • Learning Conditional Random Fields for Stereo.pdf
    1.1MB
  • Moebius-7views-3illum-3exp.zip
    15.2MB
  • Laundry-7views-3illum-3exp.zip
    13.2MB
  • Dolls-7views.zip
    2MB
  • Evaluation of Cost Functions for Stereo Matching.pdf
    1.9MB
  • Dolls-7views-3illum-3exp.zip
    16.9MB
内容介绍
<html xmlns="http://www.w3.org/1999/xhtml"><head><meta charset="utf-8"><meta name="generator" content="pdf2htmlEX"><meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"><link rel="stylesheet" href="https://csdnimg.cn/release/download_crawler_static/css/base.min.css"><link rel="stylesheet" href="https://csdnimg.cn/release/download_crawler_static/css/fancy.min.css"><link rel="stylesheet" href="https://csdnimg.cn/release/download_crawler_static/9325663/raw.css"><script src="https://csdnimg.cn/release/download_crawler_static/js/compatibility.min.js"></script><script src="https://csdnimg.cn/release/download_crawler_static/js/pdf2htmlEX.min.js"></script><script>try{pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({});}catch(e){}</script><title></title></head><body><div id="sidebar" style="display: none"><div id="outline"></div></div><div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://csdnimg.cn/release/download_crawler_static/9325663/bg1.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">Evaluation<span class="_"> </span>of<span class="_"> </span>Cost<span class="_"> </span>Function<span class="_ _0"></span>s<span class="_"> </span>for<span class="_"> </span>S<span class="_ _0"></span>ter<span class="_ _0"></span>eo<span class="_"> </span>Matching</div><div class="t m0 x2 h3 y2 ff2 fs1 fc0 sc0 ls0 ws0">Heiko<span class="_ _1"> </span>Hirschm<span class="_ _2"></span>&#168;<span class="_ _3"></span>uller</div><div class="t m0 x3 h3 y3 ff2 fs1 fc0 sc0 ls0 ws0">Institute<span class="_ _1"> </span>of<span class="_ _1"> </span>Roboti<span class="_"> </span>cs<span class="_ _1"> </span>and<span class="_ _4"> </span>Mechatronics<span class="_ _1"> </span>Oberpfaf<span class="_ _0"></span>fenhofen</div><div class="t m0 x4 h3 y4 ff2 fs1 fc0 sc0 ls0 ws0">German<span class="_ _1"> </span>Aerospace<span class="_ _1"> </span>Center<span class="_ _1"> </span>(DLR)</div><div class="t m1 x5 h4 y5 ff3 fs2 fc0 sc0 ls0 ws0">heiko.hirschmuell<span class="_ _0"></span>er@dlr.de</div><div class="t m0 x6 h3 y6 ff2 fs1 fc0 sc0 ls0 ws0">Daniel<span class="_ _1"> </span>Scharstein</div><div class="t m0 x7 h3 y7 ff2 fs1 fc0 sc0 ls0 ws0">Middlebury<span class="_ _1"> </span>C<span class="_ _0"></span>ollege</div><div class="t m0 x8 h3 y8 ff2 fs1 fc0 sc0 ls0 ws0">Middlebury<span class="_ _5"></span>,<span class="_ _6"> </span>VT<span class="_ _5"></span>,<span class="_ _1"> </span>USA</div><div class="t m1 x9 h4 y5 ff3 fs2 fc0 sc0 ls0 ws0">schar@middlebury.<span class="_ _0"></span>edu</div><div class="t m0 xa h5 y9 ff1 fs1 fc0 sc0 ls0 ws0">Abstract</div><div class="t m0 xb h6 ya ff4 fs3 fc0 sc0 ls0 ws0">Ster<span class="_ _0"></span>eo<span class="_ _4"> </span>correspondence<span class="_ _4"> </span>methods<span class="_ _7"> </span>r<span class="_ _0"></span>ely<span class="_ _4"> </span>on<span class="_ _7"> </span>matching<span class="_ _4"> </span>costs</div><div class="t m0 xc h6 yb ff4 fs3 fc0 sc0 ls0 ws0">for<span class="_ _6"> </span>computing<span class="_ _6"> </span>the<span class="_ _6"> </span>similarity<span class="_ _6"> </span>of<span class="_ _6"> </span>image<span class="_ _6"> </span>locations.<span class="_ _7"> </span>I<span class="_ _8"></span>n<span class="_ _6"> </span>this<span class="_ _6"> </span>pa-</div><div class="t m0 xc h6 yc ff4 fs3 fc0 sc0 ls0 ws0">per<span class="_ _6"> </span>we<span class="_ _6"> </span>evaluate<span class="_ _9"> </span>the<span class="_ _6"> </span>insensitivity<span class="_ _6"> </span>of<span class="_ _6"> </span>differ<span class="_ _5"></span>en<span class="_"> </span>t<span class="_ _6"> </span>matching<span class="_ _9"> </span>costs</div><div class="t m0 xc h6 yd ff4 fs3 fc0 sc0 ls0 ws0">with<span class="_ _1"> </span>r<span class="_ _0"></span>espect<span class="_ _1"> </span>to<span class="_ _4"> </span>radiometric<span class="_ _1"> </span>variations<span class="_ _1"> </span>of<span class="_ _4"> </span>the<span class="_ _1"> </span>in<span class="_ _8"></span>put<span class="_ _1"> </span>images.</div><div class="t m0 xc h6 ye ff4 fs3 fc0 sc0 ls0 ws0">W<span class="_ _5"></span>e<span class="_ _4"> </span>co<span class="_ _8"></span>nsider<span class="_ _4"> </span>b<span class="_ _8"></span>oth<span class="_ _7"> </span>pixel-based<span class="_ _7"> </span>and<span class="_ _7"> </span>window-based<span class="_ _7"> </span>variants</div><div class="t m0 xc h6 yf ff4 fs3 fc0 sc0 ls0 ws0">and<span class="_ _7"> </span>measure<span class="_ _7"> </span>their<span class="_ _7"> </span>perfo<span class="_"> </span>rma<span class="_ _8"></span>nce<span class="_ _7"> </span>in<span class="_ _7"> </span>th<span class="_ _8"></span>e<span class="_ _7"> </span>presence<span class="_ _7"> </span>of<span class="_ _7"> </span>glo<span class="_ _8"></span>bal</div><div class="t m0 xc h6 y10 ff4 fs3 fc0 sc0 ls0 ws0">intensity<span class="_ _a"> </span>changes<span class="_ _a"> </span>(e.g.,<span class="_ _a"> </span>du<span class="_ _8"></span>e<span class="_ _a"> </span>to<span class="_ _a"> </span>gain<span class="_ _b"> </span>and<span class="_ _a"> </span>exposur<span class="_ _0"></span>e<span class="_ _a"> </span>diff<span class="_ _0"></span>er<span class="_ _0"></span>-</div><div class="t m0 xc h6 y11 ff4 fs3 fc0 sc0 ls0 ws0">ences),<span class="_ _9"> </span>loc<span class="_"> </span>a<span class="_ _8"></span>l<span class="_ _9"> </span>intensity<span class="_ _6"> </span>changes<span class="_ _9"> </span>(e.g.,<span class="_ _9"> </span>due<span class="_ _9"> </span>to<span class="_ _6"> </span>vignetting,<span class="_ _9"> </span>non-</div><div class="t m0 xc h6 y12 ff4 fs3 fc0 sc0 ls0 ws0">Lambertian<span class="_ _6"> </span>surfaces,<span class="_ _6"> </span>and<span class="_ _6"> </span>varying<span class="_ _9"> </span>lig<span class="_ _8"></span>hting),<span class="_ _6"> </span>and<span class="_ _6"> </span>noise.<span class="_ _1"> </span>Us-</div><div class="t m0 xc h6 y13 ff4 fs3 fc0 sc0 ls0 ws0">ing<span class="_ _9"> </span>existing<span class="_ _9"> </span>ster<span class="_ _0"></span>eo<span class="_ _9"> </span>d<span class="_ _8"></span>atasets<span class="_ _9"> </span>with<span class="_ _6"> </span>gr<span class="_ _5"></span>ou<span class="_ _8"></span>nd-truth<span class="_ _9"> </span>dispa<span class="_ _8"></span>rities<span class="_ _9"> </span>as</div><div class="t m0 xc h6 y14 ff4 fs3 fc0 sc0 ls0 ws0">well<span class="_ _6"> </span>as<span class="_ _1"> </span>six<span class="_ _1"> </span>new<span class="_ _6"> </span>datasets<span class="_ _1"> </span>taken<span class="_ _6"> </span>und<span class="_ _8"></span>er<span class="_ _6"> </span>contr<span class="_ _0"></span>olled<span class="_ _6"> </span>changes<span class="_ _6"> </span>of</div><div class="t m0 xc h6 y15 ff4 fs3 fc0 sc0 ls0 ws0">exposur<span class="_ _0"></span>e<span class="_ _c"> </span>and<span class="_ _9"> </span>lighting,<span class="_ _9"> </span>we<span class="_ _9"> </span>evaluate<span class="_ _9"> </span>the<span class="_ _9"> </span>differ<span class="_ _5"></span>en<span class="_ _8"></span>t<span class="_ _9"> </span>costs<span class="_ _9"> </span>with<span class="_ _9"> </span>a</div><div class="t m0 xc h6 y16 ff4 fs3 fc0 sc0 ls0 ws0">local,<span class="_ _9"> </span>a<span class="_ _6"> </span>semi-global,<span class="_ _6"> </span>and<span class="_ _9"> </span>a<span class="_ _6"> </span>globa<span class="_ _8"></span>l<span class="_ _9"> </span>ster<span class="_ _d"></span>eo<span class="_ _6"> </span>method.</div><div class="t m0 xc h5 y17 ff1 fs1 fc0 sc0 ls0 ws0">1.<span class="_"> </span>Intr<span class="_ _d"></span>oduction<span class="_ _4"> </span>and<span class="_"> </span>Related<span class="_"> </span>W<span class="_ _5"></span>ork</div><div class="t m0 xb h7 y18 ff2 fs3 fc0 sc0 ls0 ws0">All<span class="_ _e"> </span>stereo<span class="_ _e"> </span>correspon<span class="_ _8"></span>dence<span class="_ _b"> </span>algor<span class="_ _8"></span>ithms<span class="_ _e"> </span>ha<span class="_ _d"></span>ve<span class="_ _e"> </span>a<span class="_ _e"> </span>way<span class="_ _e"> </span>of</div><div class="t m0 xc h7 y19 ff2 fs3 fc0 sc0 ls0 ws0">measuring<span class="_ _7"> </span>the<span class="_ _f"> </span>similarity<span class="_ _7"> </span>o<span class="_ _8"></span>f<span class="_ _7"> </span>image<span class="_ _f"> </span>locations.<span class="_ _10"> </span>T<span class="_ _5"></span>ypically<span class="_ _d"></span>,<span class="_ _f"> </span>a</div><div class="t m0 xc h7 y1a ff4 fs3 fc0 sc0 ls0 ws0">matching<span class="_ _a"> </span>cost<span class="_ _a"> </span><span class="ff2">is<span class="_ _b"> </span>comp<span class="_ _8"></span>uted<span class="_ _a"> </span>at<span class="_ _a"> </span>each<span class="_ _b"> </span>pixel<span class="_ _a"> </span>fo<span class="_ _8"></span>r<span class="_ _a"> </span>all<span class="_ _a"> </span>d<span class="_ _8"></span>ispari-</span></div><div class="t m0 xc h7 y1b ff2 fs3 fc0 sc0 ls0 ws0">ties<span class="_ _4"> </span>und<span class="_ _8"></span>er<span class="_ _4"> </span>con<span class="_"> </span>sid<span class="_ _8"></span>eration.<span class="_ _11"> </span>The<span class="_ _7"> </span>simplest<span class="_ _4"> </span>matchin<span class="_ _8"></span>g<span class="_ _1"> </span>c<span class="_"> </span>o<span class="_ _8"></span>sts<span class="_ _4"> </span>as-</div><div class="t m0 xc h7 y1c ff2 fs3 fc0 sc0 ls0 ws0">sume<span class="_ _1"> </span>con<span class="_ _8"></span>stant<span class="_ _1"> </span>intensities<span class="_ _1"> </span>at<span class="_ _4"> </span>matchin<span class="_ _8"></span>g<span class="_ _1"> </span>image<span class="_ _1"> </span>lo<span class="_"> </span>c<span class="_"> </span>a<span class="_ _8"></span>tions,<span class="_ _4"> </span>but</div><div class="t m0 xc h7 y1d ff2 fs3 fc0 sc0 ls0 ws0">more<span class="_ _f"> </span>robust<span class="_ _f"> </span>costs<span class="_ _f"> </span>m<span class="_ _8"></span>odel<span class="_ _f"> </span>(explicitly<span class="_ _f"> </span>or<span class="_ _a"> </span>implicitly)<span class="_ _7"> </span>cer<span class="_ _8"></span>tain</div><div class="t m0 xc h7 y1e ff2 fs3 fc0 sc0 ls0 ws0">radiometr<span class="_ _8"></span>ic<span class="_ _f"> </span>c<span class="_"> </span>h<span class="_ _8"></span>anges<span class="_ _a"> </span>and/o<span class="_"> </span>r<span class="_ _a"> </span>n<span class="_ _8"></span>oise.<span class="_ _12"> </span>Common<span class="_ _a"> </span>pixel-ba<span class="_ _8"></span>sed</div><div class="t m0 xc h7 y1f ff2 fs3 fc0 sc0 ls0 ws0">matching<span class="_ _f"> </span>c<span class="_"> </span>o<span class="_ _8"></span>sts<span class="_ _f"> </span>inc<span class="_"> </span>lu<span class="_ _8"></span>de<span class="_ _f"> </span>absolute<span class="_ _a"> </span>differences,<span class="_ _f"> </span>sq<span class="_"> </span>u<span class="_ _8"></span>ared<span class="_ _f"> </span>dif<span class="_"> </span>-</div><div class="t m0 xc h7 y20 ff2 fs3 fc0 sc0 ls0 ws0">ferences,<span class="_ _f"> </span>sampling<span class="_ _8"></span>-insensitive<span class="_ _1"> </span>absolute<span class="_ _7"> </span>differences<span class="_ _7"> </span>[2],<span class="_ _f"> </span>or</div><div class="t m0 xc h7 y21 ff2 fs3 fc0 sc0 ls0 ws0">truncated<span class="_ _4"> </span>versions,<span class="_ _7"> </span>bo<span class="_ _8"></span>th<span class="_ _4"> </span>on<span class="_ _4"> </span>g<span class="_ _8"></span>ray<span class="_ _4"> </span>an<span class="_ _8"></span>d<span class="_ _4"> </span>color<span class="_ _7"> </span>images.<span class="_ _11"> </span>Com<span class="_ _8"></span>-</div><div class="t m0 xc h7 y22 ff2 fs3 fc0 sc0 ls0 ws0">mon<span class="_ _c"> </span>window-based<span class="_ _c"> </span>matching<span class="_ _c"> </span>costs<span class="_ _c"> </span>inc<span class="_"> </span>lu<span class="_ _8"></span>de<span class="_ _c"> </span>the<span class="_ _c"> </span>sum<span class="_ _c"> </span>o<span class="_ _8"></span>f<span class="_ _c"> </span>abso-</div><div class="t m0 xc h7 y23 ff2 fs3 fc0 sc0 ls0 ws0">lute<span class="_ _9"> </span>or<span class="_ _6"> </span>squared<span class="_ _9"> </span>differences<span class="_ _9"> </span>(SAD<span class="_ _9"> </span>/<span class="_ _6"> </span>SSD),<span class="_ _9"> </span>norm<span class="_ _8"></span>alized<span class="_ _9"> </span>cross-</div><div class="t m0 xc h7 y24 ff2 fs3 fc0 sc0 ls0 ws0">correlation<span class="_ _f"> </span>(NCC),<span class="_ _a"> </span>and<span class="_ _a"> </span>rank<span class="_ _f"> </span>and<span class="_ _a"> </span>census<span class="_ _f"> </span>tr<span class="_ _8"></span>ansforms<span class="_ _f"> </span>[2<span class="_ _8"></span>3].</div><div class="t m0 xc h7 y25 ff2 fs3 fc0 sc0 ls0 ws0">Some<span class="_ _4"> </span>wind<span class="_"> </span>ow-based<span class="_ _4"> </span>costs<span class="_ _7"> </span>can<span class="_ _4"> </span>be<span class="_ _7"> </span>implemented<span class="_ _4"> </span>ef&#64257;ciently</div><div class="t m0 xc h7 y26 ff2 fs3 fc0 sc0 ls0 ws0">using<span class="_ _6"> </span>&#64257;lters.<span class="_ _a"> </span>For<span class="_ _6"> </span>exam<span class="_ _8"></span>ple,<span class="_ _6"> </span>the<span class="_ _1"> </span>rank<span class="_ _1"> </span>transform<span class="_ _6"> </span>can<span class="_ _1"> </span>be<span class="_ _1"> </span>com<span class="_ _8"></span>-</div><div class="t m0 xc h7 y27 ff2 fs3 fc0 sc0 ls0 ws0">puted<span class="_ _9"> </span>using<span class="_ _9"> </span>a<span class="_ _9"> </span>r<span class="_ _8"></span>ank<span class="_ _9"> </span>&#64257;lter<span class="_ _9"> </span>followed<span class="_ _9"> </span>by<span class="_ _9"> </span>absolute<span class="_ _9"> </span>differences<span class="_ _9"> </span>of</div><div class="t m0 xc h7 y28 ff2 fs3 fc0 sc0 ls0 ws0">the<span class="_ _6"> </span>&#64257;lter<span class="_ _6"> </span>resu<span class="_ _8"></span>lts.<span class="_ _7"> </span>Sim<span class="_ _8"></span>ilarly<span class="_ _d"></span>,<span class="_ _6"> </span>there<span class="_ _6"> </span>are<span class="_ _6"> </span>o<span class="_ _8"></span>ther<span class="_ _6"> </span>&#64257;lters<span class="_ _6"> </span>that<span class="_ _1"> </span>try<span class="_ _6"> </span>to</div><div class="t m0 xc h7 y29 ff2 fs3 fc0 sc0 ls0 ws0">remove<span class="_ _9"> </span>bias<span class="_ _9"> </span>or<span class="_ _6"> </span>gain<span class="_ _6"> </span>changes,<span class="_ _9"> </span>e.g.,<span class="_ _6"> </span>LoG<span class="_ _9"> </span>and<span class="_ _6"> </span>mean<span class="_ _9"> </span>&#64257;lters.</div><div class="t m0 xb h7 y2a ff2 fs3 fc0 sc0 ls0 ws0">More<span class="_ _4"> </span>co<span class="_"> </span>m<span class="_ _8"></span>plicated<span class="_ _4"> </span>similarity<span class="_ _4"> </span>m<span class="_"> </span>e<span class="_"> </span>a<span class="_ _8"></span>sures<span class="_ _4"> </span>are<span class="_ _4"> </span>p<span class="_"> </span>o<span class="_ _8"></span>ssible,<span class="_ _7"> </span>in-</div><div class="t m0 xc h7 y2b ff2 fs3 fc0 sc0 ls0 ws0">cluding<span class="_ _f"> </span>m<span class="_ _8"></span>utual<span class="_ _f"> </span>info<span class="_ _8"></span>rmation<span class="_ _f"> </span>[7,<span class="_ _a"> </span>9,<span class="_ _f"> </span>1<span class="_ _8"></span>1]<span class="_ _f"> </span>and<span class="_ _a"> </span>approxim<span class="_ _8"></span>ati<span class="_ _0"></span>ve</div><div class="t m0 xc h7 y2c ff2 fs3 fc0 sc0 ls0 ws0">segment-wise<span class="_ _a"> </span>mutual<span class="_ _a"> </span>inf<span class="_ _8"></span>ormation<span class="_ _a"> </span>as<span class="_ _a"> </span>u<span class="_ _8"></span>sed<span class="_ _a"> </span>in<span class="_ _b"> </span>the<span class="_ _a"> </span>layer<span class="_ _8"></span>ed</div><div class="t m0 xc h7 y2d ff2 fs3 fc0 sc0 ls0 ws0">stereo<span class="_ _6"> </span>approach<span class="_ _9"> </span>of<span class="_ _6"> </span>Zitnick<span class="_ _9"> </span>et<span class="_ _6"> </span>al.<span class="_ _9"> </span>[2<span class="_ _8"></span>4].</div><div class="t m0 xd h7 y9 ff2 fs3 fc0 sc0 ls0 ws0">Recent<span class="_ _6"> </span>stereo<span class="_ _6"> </span>surveys<span class="_ _c"> </span>[<span class="_ _8"></span>5,<span class="_ _6"> </span>17]<span class="_ _9"> </span>and<span class="_ _6"> </span>the<span class="_ _6"> </span>Middlebury<span class="_ _9"> </span>online</div><div class="t m0 xe h7 y2e ff2 fs3 fc0 sc0 ls0 ws0">ev<span class="_ _d"></span>aluation<span class="_ _1"> </span>[14]<span class="_ _1"> </span>compar<span class="_"> </span>e<span class="_ _1"> </span>state-of-the-a<span class="_"> </span>r<span class="_ _8"></span>t<span class="_ _6"> </span>stereo<span class="_ _1"> </span>method<span class="_"> </span>s<span class="_ _1"> </span>on</div><div class="t m0 xe h7 ya ff2 fs3 fc0 sc0 ls0 ws0">test<span class="_ _9"> </span>data<span class="_ _9"> </span>with<span class="_ _9"> </span>complex<span class="_ _c"> </span>ge<span class="_"> </span>o<span class="_ _8"></span>metries<span class="_ _c"> </span>an<span class="_"> </span>d<span class="_ _9"> </span>varied<span class="_ _9"> </span>texture.<span class="_ _6"> </span>Other</div><div class="t m0 xe h7 yb ff2 fs3 fc0 sc0 ls0 ws0">ev<span class="_ _d"></span>aluation<span class="_ _8"></span>s<span class="_ _6"> </span>focus<span class="_ _6"> </span>on<span class="_ _6"> </span>certain<span class="_ _6"> </span>aspects<span class="_ _6"> </span>like<span class="_ _6"> </span>aggregation<span class="_ _6"> </span>meth-</div><div class="t m0 xe h7 yc ff2 fs3 fc0 sc0 ls0 ws0">ods<span class="_ _6"> </span>for<span class="_ _6"> </span>real-time<span class="_ _6"> </span>matchin<span class="_ _8"></span>g<span class="_ _6"> </span>[21].<span class="_ _7"> </span>Howe<span class="_ _d"></span>ver,<span class="_ _9"> </span>the<span class="_ _6"> </span>in<span class="_ _8"></span>sensiti<span class="_ _0"></span>vity</div><div class="t m0 xe h7 yd ff2 fs3 fc0 sc0 ls0 ws0">of<span class="_ _6"> </span>m<span class="_"> </span>a<span class="_ _8"></span>tching<span class="_ _6"> </span>costs<span class="_ _1"> </span>is<span class="_ _1"> </span>not<span class="_ _6"> </span>evaluated<span class="_ _6"> </span>since<span class="_ _6"> </span>the<span class="_ _1"> </span>stereo<span class="_ _1"> </span>test<span class="_ _6"> </span>sets</div><div class="t m0 xe h7 ye ff2 fs3 fc0 sc0 ls0 ws0">are<span class="_ _9"> </span>ty<span class="_ _8"></span>pically<span class="_ _9"> </span>pa<span class="_"> </span>ir<span class="_ _8"></span>s<span class="_ _9"> </span>of<span class="_ _6"> </span>radiometr<span class="_"> </span>ica<span class="_ _8"></span>lly<span class="_ _9"> </span>very<span class="_ _9"> </span>similar<span class="_ _6"> </span>images.</div><div class="t m0 xd h7 yf ff2 fs3 fc0 sc0 ls0 ws0">The<span class="_ _1"> </span>term<span class="_ _4"> </span><span class="ff4">radiometrically<span class="_ _1"> </span>similar<span class="_ _1"> </span></span>me<span class="_ _8"></span>ans<span class="_ _1"> </span>that<span class="_ _1"> </span>pixels<span class="_ _1"> </span>that</div><div class="t m0 xe h7 y10 ff2 fs3 fc0 sc0 ls0 ws0">correspo<span class="_"> </span>n<span class="_ _8"></span>d<span class="_ _6"> </span>to<span class="_ _1"> </span>the<span class="_ _4"> </span>same<span class="_ _1"> </span>scene<span class="_ _4"> </span>point<span class="_ _1"> </span>have<span class="_ _6"> </span>similar<span class="_ _4"> </span>or<span class="_ _1"> </span>ideally</div><div class="t m0 xe h7 y11 ff2 fs3 fc0 sc0 ls0 ws0">the<span class="_ _9"> </span>sam<span class="_"> </span>e<span class="_ _6"> </span>values<span class="_ _9"> </span>in<span class="_ _6"> </span>the<span class="_ _9"> </span>imag<span class="_ _8"></span>es.<span class="_ _1"> </span>Radiometr<span class="_ _8"></span>ic<span class="_ _9"> </span>differences<span class="_ _9"> </span>can</div><div class="t m0 xe h7 y12 ff2 fs3 fc0 sc0 ls0 ws0">be<span class="_ _9"> </span>caused<span class="_ _c"> </span>b<span class="_ _8"></span>y<span class="_ _c"> </span>th<span class="_ _8"></span>e<span class="_ _c"> </span>ca<span class="_"> </span>m<span class="_ _8"></span>era(s)<span class="_ _c"> </span>d<span class="_ _8"></span>ue<span class="_ _9"> </span>to<span class="_ _c"> </span>slightly<span class="_ _9"> </span>different<span class="_ _c"> </span>settings,</div><div class="t m0 xe h7 y13 ff2 fs3 fc0 sc0 ls0 ws0">vignetting<span class="_ _8"></span>,<span class="_ _c"> </span>image<span class="_ _c"> </span>noise,<span class="_ _9"> </span>etc.<span class="_ _1"> </span>Further<span class="_ _c"> </span>differences<span class="_ _c"> </span>may<span class="_ _c"> </span>be<span class="_ _9"> </span>due</div><div class="t m0 xe h7 y14 ff2 fs3 fc0 sc0 ls0 ws0">to<span class="_ _6"> </span>non-<span class="_"> </span>L<span class="_ _8"></span>ambertian<span class="_ _6"> </span>surfaces,<span class="_ _6"> </span>which<span class="_ _6"> </span>make<span class="_ _6"> </span>the<span class="_ _6"> </span>amou<span class="_ _8"></span>nt<span class="_ _6"> </span>of<span class="_ _6"> </span>re-</div><div class="t m0 xe h7 y15 ff2 fs3 fc0 sc0 ls0 ws0">&#64258;ected<span class="_ _4"> </span>lig<span class="_ _8"></span>ht<span class="_ _4"> </span>d<span class="_ _8"></span>ependen<span class="_ _8"></span>t<span class="_ _1"> </span>on<span class="_ _7"> </span>the<span class="_ _4"> </span>v<span class="_ _8"></span>iewing<span class="_ _1"> </span>ang<span class="_ _8"></span>le.<span class="_ _11"> </span>Fin<span class="_ _8"></span>ally<span class="_ _5"></span>,<span class="_ _7"> </span>the</div><div class="t m0 xe h7 y16 ff2 fs3 fc0 sc0 ls0 ws0">strength<span class="_ _6"> </span>or<span class="_ _6"> </span>positions<span class="_ _6"> </span>of<span class="_ _6"> </span>th<span class="_ _8"></span>e<span class="_ _6"> </span>light<span class="_ _6"> </span>sources<span class="_ _6"> </span>may<span class="_ _6"> </span>chang<span class="_ _8"></span>e<span class="_ _6"> </span>when</div><div class="t m0 xe h7 y2f ff2 fs3 fc0 sc0 ls0 ws0">images<span class="_ _6"> </span>o<span class="_ _8"></span>f<span class="_ _1"> </span>a<span class="_ _6"> </span>static<span class="_ _1"> </span>scene<span class="_ _1"> </span>are<span class="_ _1"> </span>acquired<span class="_ _1"> </span>at<span class="_ _1"> </span>different<span class="_ _11"> </span>times,<span class="_ _1"> </span>as</div><div class="t m0 xe h7 y30 ff2 fs3 fc0 sc0 ls0 ws0">is<span class="_ _1"> </span>the<span class="_ _1"> </span>case<span class="_ _1"> </span>when<span class="_ _1"> </span>matching<span class="_ _1"> </span>aerial<span class="_ _1"> </span>or<span class="_ _1"> </span>satellite<span class="_ _1"> </span>imag<span class="_ _8"></span>es.<span class="_ _a"> </span>In<span class="_ _1"> </span>a<span class="_"> </span>ll</div><div class="t m0 xe h7 y31 ff2 fs3 fc0 sc0 ls0 ws0">cases,<span class="_ _9"> </span>method<span class="_ _8"></span>s<span class="_ _c"> </span>are<span class="_ _9"> </span>req<span class="_ _8"></span>uired<span class="_ _9"> </span>that<span class="_ _c"> </span>ca<span class="_ _8"></span>n<span class="_ _9"> </span>handle<span class="_ _9"> </span>radiometric<span class="_ _9"> </span>dif-</div><div class="t m0 xe h7 y32 ff2 fs3 fc0 sc0 ls0 ws0">ferences.</div><div class="t m0 xd h7 y33 ff2 fs3 fc0 sc0 ls0 ws0">The<span class="_ _7"> </span>scope<span class="_ _4"> </span>of<span class="_ _7"> </span>this<span class="_ _7"> </span>paper<span class="_ _4"> </span>is<span class="_ _7"> </span>the<span class="_ _7"> </span>ev<span class="_ _d"></span>alu<span class="_ _8"></span>ation<span class="_ _4"> </span>and<span class="_ _7"> </span>compari-</div><div class="t m0 xe h7 y34 ff2 fs3 fc0 sc0 ls0 ws0">son<span class="_ _4"> </span>of<span class="_ _4"> </span>some<span class="_ _1"> </span>widely<span class="_ _4"> </span>u<span class="_ _8"></span>sed<span class="_ _1"> </span>stereo<span class="_ _4"> </span>m<span class="_ _8"></span>atching<span class="_ _1"> </span>costs<span class="_ _4"> </span>on<span class="_ _4"> </span>images</div><div class="t m0 xe h7 y35 ff2 fs3 fc0 sc0 ls0 ws0">with<span class="_ _7"> </span>several<span class="_ _7"> </span>comm<span class="_ _8"></span>on<span class="_ _7"> </span>rad<span class="_ _8"></span>iometric<span class="_ _7"> </span>d<span class="_ _8"></span>ifferences.<span class="_ _10"> </span>The<span class="_ _7"> </span>fo<span class="_ _8"></span>cus</div><div class="t m0 xe h7 y36 ff2 fs3 fc0 sc0 ls0 ws0">is<span class="_ _f"> </span>o<span class="_"> </span>n<span class="_ _a"> </span>matching<span class="_ _f"> </span>costs<span class="_ _f"> </span>th<span class="_ _8"></span>at<span class="_ _f"> </span>explicitely<span class="_ _f"> </span>or<span class="_ _a"> </span>implicitly<span class="_ _f"> </span>hand<span class="_ _8"></span>le</div><div class="t m0 xe h7 y37 ff2 fs3 fc0 sc0 ls0 ws0">radiometr<span class="_ _8"></span>ic<span class="_ _a"> </span>differences.<span class="_ _12"> </span>Th<span class="_"> </span>is<span class="_ _b"> </span>excludes<span class="_ _a"> </span>p<span class="_ _8"></span>opular<span class="_ _a"> </span>meth<span class="_ _8"></span>ods</div><div class="t m0 xe h7 y38 ff2 fs3 fc0 sc0 ls0 ws0">like<span class="_ _4"> </span>th<span class="_ _8"></span>e<span class="_ _7"> </span>correlation-<span class="_"> </span>b<span class="_ _8"></span>ased<span class="_ _1"> </span>weigh<span class="_ _8"></span>ting<span class="_ _7"> </span>according<span class="_ _4"> </span>to<span class="_ _7"> </span>pro<span class="_ _8"></span>xim-</div><div class="t m0 xe h7 y39 ff2 fs3 fc0 sc0 ls0 ws0">ity<span class="_ _7"> </span>and<span class="_ _7"> </span>color<span class="_ _4"> </span>similar<span class="_ _8"></span>ity<span class="_ _4"> </span>[2<span class="_ _8"></span>2],<span class="_ _7"> </span>as<span class="_ _7"> </span>this<span class="_ _7"> </span>is<span class="_ _7"> </span>an<span class="_ _4"> </span>a<span class="_"> </span>g<span class="_ _8"></span>gregation<span class="_ _4"> </span>ap-</div><div class="t m0 xe h7 y3a ff2 fs3 fc0 sc0 ls0 ws0">proach<span class="_ _9"> </span>that<span class="_ _9"> </span>uses<span class="_ _9"> </span>th<span class="_"> </span>e<span class="_ _6"> </span>truncated<span class="_ _9"> </span>absolute<span class="_ _9"> </span>difference<span class="_ _9"> </span>as<span class="_ _9"> </span>match-</div><div class="t m0 xe h7 y3b ff2 fs3 fc0 sc0 ls0 ws0">ing<span class="_ _6"> </span>co<span class="_ _8"></span>st.<span class="_ _a"> </span>Furtherm<span class="_ _8"></span>ore,<span class="_ _6"> </span>on<span class="_ _8"></span>ly<span class="_ _6"> </span>meth<span class="_ _8"></span>ods<span class="_ _6"> </span>that<span class="_ _1"> </span>work<span class="_ _6"> </span>o<span class="_ _8"></span>n<span class="_ _6"> </span>a<span class="_ _1"> </span>single</div><div class="t m0 xe h7 y3c ff2 fs3 fc0 sc0 ls0 ws0">stereo<span class="_ _1"> </span>pair<span class="_ _4"> </span>with<span class="_ _4"> </span>unkn<span class="_"> </span>own<span class="_ _6"> </span>radio<span class="_ _8"></span>metric<span class="_ _1"> </span>distortion<span class="_ _8"></span>s<span class="_ _1"> </span>and<span class="_ _1"> </span>light</div><div class="t m0 xe h7 y3d ff2 fs3 fc0 sc0 ls0 ws0">sources<span class="_ _6"> </span>are<span class="_ _1"> </span>ev<span class="_ _d"></span>aluated<span class="_ _8"></span>,<span class="_ _6"> </span>according<span class="_ _6"> </span>to<span class="_ _6"> </span>th<span class="_ _8"></span>e<span class="_ _6"> </span>considered<span class="_ _6"> </span>app<span class="_ _8"></span>lica-</div><div class="t m0 xe h7 y3e ff2 fs3 fc0 sc0 ls0 ws0">tions.<span class="_ _13"> </span>This<span class="_ _f"> </span>excludes<span class="_ _f"> </span>methods<span class="_ _f"> </span>that<span class="_ _f"> </span>explicitly<span class="_ _f"> </span>handle<span class="_ _f"> </span>non<span class="_ _8"></span>-</div><div class="t m0 xe h7 y3f ff2 fs3 fc0 sc0 ls0 ws0">Lambertian<span class="_ _7"> </span>sur<span class="_"> </span>faces<span class="_ _f"> </span>by<span class="_ _f"> </span>taking<span class="_ _f"> </span>at<span class="_ _f"> </span>least<span class="_ _f"> </span>two<span class="_ _7"> </span>stereo<span class="_ _f"> </span>imag<span class="_ _8"></span>es</div><div class="t m0 xe h7 y40 ff2 fs3 fc0 sc0 ls0 ws0">with<span class="_ _9"> </span>d<span class="_ _8"></span>ifferent<span class="_ _9"> </span>illuminations<span class="_ _6"> </span>[6]<span class="_ _9"> </span>or<span class="_ _6"> </span>methods<span class="_ _6"> </span>that<span class="_ _9"> </span>req<span class="_ _8"></span>uire<span class="_ _9"> </span>cal-</div><div class="t m0 xe h7 y41 ff2 fs3 fc0 sc0 ls0 ws0">ibrated<span class="_ _9"> </span>lig<span class="_"> </span>h<span class="_ _8"></span>t<span class="_ _9"> </span>sou<span class="_ _8"></span>rces.</div><div class="t m0 xe h5 y42 ff1 fs1 fc0 sc0 ls0 ws0">2.<span class="_"> </span>Matching<span class="_"> </span>Costs<span class="_"> </span>and<span class="_"> </span>Ster<span class="_ _d"></span>eo<span class="_ _4"> </span>Methods</div><div class="t m0 xd h7 y2a ff2 fs3 fc0 sc0 ls0 ws0">It<span class="_ _9"> </span>is<span class="_ _c"> </span>impo<span class="_ _8"></span>rtant<span class="_ _c"> </span>to<span class="_ _9"> </span>distinguish<span class="_ _9"> </span>between<span class="_ _c"> </span>matchin<span class="_ _8"></span>g<span class="_ _c"> </span>costs<span class="_ _9"> </span>and</div><div class="t m0 xe h7 y2b ff2 fs3 fc0 sc0 ls0 ws0">methods<span class="_ _4"> </span>that<span class="_ _4"> </span>u<span class="_ _8"></span>se<span class="_ _4"> </span>these<span class="_ _4"> </span>co<span class="_ _8"></span>sts.<span class="_ _11"> </span>In<span class="_ _4"> </span>this<span class="_ _7"> </span>paper<span class="_ _4"> </span>we<span class="_ _4"> </span>com<span class="_ _8"></span>pare<span class="_ _4"> </span>6</div><div class="t m0 xe h7 y2c ff2 fs3 fc0 sc0 ls0 ws0">costs<span class="_ _6"> </span>an<span class="_ _8"></span>d<span class="_ _6"> </span>3<span class="_ _1"> </span>stereo<span class="_ _1"> </span>methods.<span class="_ _a"> </span>W<span class="_ _5"></span>e<span class="_ _6"> </span>consider<span class="_ _6"> </span>all<span class="_ _1"> </span>po<span class="_ _8"></span>ssible<span class="_ _6"> </span>com-</div><div class="t m0 xe h7 y2d ff2 fs3 fc0 sc0 ls0 ws0">binations<span class="_ _9"> </span>to<span class="_ _6"> </span>fully<span class="_ _6"> </span>e<span class="_ _d"></span>valuate<span class="_ _9"> </span>the<span class="_ _6"> </span>insensitivity<span class="_ _9"> </span>of<span class="_ _6"> </span>each<span class="_ _9"> </span>cost.</div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div></body></html>
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