Quaternary Census Transform Based on the Human Visual System for Stereo Matching

Abstract

The census transform is a non-parametric local transform that is widely used in stereo matching. This transform encodes the structural information of a local patch into a binary code stream representing the relative intensity ordering of the pixels within the patch. Despite its high performance in stereo matching, the census transform often generates identical binary code streams for two different patches because it simply thresholds the pixels within the patch at the center pixel intensity. To overcome this problem, we introduce a quaternary census transform that encodes the local structural information into a quaternary code stream by employing both the relative intensity ordering and the minimum visibility threshold of the human eye known as the just-noticeable difference. Moreover, because the human eye activates different areas of the retina based on brightness, the patch size for the proposed quaternary census transform adaptively varies depending on the luminance of each pixel. Experimental results on well-known Middlebury stereo datasets prove that the proposed transform outperforms the other census transform-based methods in terms of the accuracy of stereo matching.