Efficient Stereo Matching Based on Pervasive Guided Image Filtering

Abstract

This paper presents an effective cost aggregation strategy for dense stereo matching. Based on the guided image filtering (GIF), we propose a new aggregation scheme called Pervasive Guided Image Filtering (PGIF) to introduce weightings to the energy function of the filter which allows the whole image pair to be taken into account. The filter parameters of PGIF are calculated as two-dimensional convolution using the bright and spatial differences between the corresponding pixels, which can be incrementally calculated for efficient aggregation. The complexity of the proposed algorithm is O(N), which is linear to the number of image pixels. Furthermore, the algorithm can be further simplified into O(N/4) without significantly sacrificing accuracy if subsampling is applied in the stage of parameter calculation. We also found that a step function to attenuate noise is required in calculating the weights. Experimental evaluation on version 3 of the Middlebury stereo evaluation datasets shows that the proposed method achieves superior disparity accuracy over state-of-the-art aggregation methods with comparable processing speed.