Fast spatio-temporal stereo matching method for omnidirectional images
Zakaria Kerkaou, Mohamed El Ansari, Lhoussaine Masmoudi · 2018
In this paper, we present a new fast stereo matching method for omnidirectional images. The main contribution of the proposed approach is to involve the results obtained in the preceding frame in the matching of the current frame. The proposed approach consists of four steps. The first step is the spherical edge detection, which allows to compute the disparity only on significant features. The second step is the spherical rectification process, which is computed such that the epipolar lines coincide with the scan lines. In order to overcome the problem of blind spots near the epipoles caused by the distortions, we rectify three pairs of omnidirectional images: the current ones (spatial rectification), temporally adjacent left images, and temporally adjacent right images (temporal rectification).The third step is the stereo matching algorithm applied on the three rectified pairs. The final step is combining the three disparity maps into one single 360° disparity map. The proposed method tested in high-resolution omnidirectional images has shown to provide promising results towards stereo matching in omnidirectional imaging.