HIERARCHICAL DISPARITY HYPOTHESIS GENERATION WITH SLANTED SUPPORT WINDOWS

    公开(公告)号:US20190287259A1

    公开(公告)日:2019-09-19

    申请号:US16158676

    申请日:2018-10-12

    Applicant: Google LLC

    Abstract: A method includes capturing a first image and a second image of a scene using at least one imaging camera of an imaging system. The first image and the second image form a stereo image pair and each comprises a plurality of pixels. Each of the plurality of pixels in the second image is initialized with a disparity hypothesis. Matching costs of the disparity hypothesis for each of the plurality of pixels in the second image are recursively determined, from an image tile of a smaller pixel size to an image tile of a larger pixel size, to generate an initial tiled disparity map including a plurality of image tiles. After refining the disparity value estimate of each image tile and including a slant hypothesis, a final disparity estimate for each pixel of the image is generated.

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