Probabilistic Disparity Fusion for Real-Time Motion-Stereo

Advanced driver assistance using computer vision is a first important step towards autonomous driving tasks. However, the computational power in automobiles is highly limited and hardware platforms with enormous processing power such as GPUs are not available. In our paper we address the need for a highly efficient fusion method that is well suited for standard CPUs and dedicated hardware. We assume that a number of pair-wise disparity maps are available, which we project to a reference view pair and fuse them efficiently to improve the accuracy of the reference disparity map. We estimate a probabilitydensity function of disparities in the reference image using projection uncertainties. In the end the most probable disparity map is selected from the probability distribution. We carried out extensive quantitative evaluations on challenging stereo data sets and real world images. These results clearly show that our method is able to recover very accurate disparity maps in real-time.     «

Advanced driver assistance using computer vision is a first important step towards autonomous driving tasks. However, the computational power in automobiles is highly limited and hardware platforms with enormous processing power such as GPUs are not available. In our paper we address the need for a highly efficient fusion method that is well suited for standard CPUs and dedicated hardware. We assume that a number of pair-wise disparity maps are available, which we project to a reference view pai...     »