Semantic Edge Based Disparity Estimation Using Adaptive Dynamic Programming for Binocular Sensors
by
Dongchen Zhu 1,2,*, Jiamao Li 1, Xianshun Wang 1,2, Jingquan Peng 1,2,3, Wenjun Shi 1,2 and Xiaolin Zhang 1
Dongchen Zhu 1,2,*, Jiamao Li 1, Xianshun Wang 1,2, Jingquan Peng 1,2,3, Wenjun Shi 1,2 and Xiaolin Zhang 1
1
Bio-Vision System Laboratory, State Key Laboratory of Transducer Technology, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai 200050, China
2
University of Chinese Academy of Sciences, Beijing 100049, China
3
School of Information Science and Technology, ShanghaiTech University, Shanghai 201210, China
*
Author to whom correspondence should be addressed.
Sensors 2018, 18(4), 1074; https://doi.org/10.3390/s18041074
Received: 14 February 2018 / Revised: 27 March 2018 / Accepted: 30 March 2018 / Published: 3 April 2018
(This article belongs to the Section Intelligent Sensors)
Disparity calculation is crucial for binocular sensor ranging. The disparity estimation based on edges is an important branch in the research of sparse stereo matching and plays an important role in visual navigation. In this paper, we propose a robust sparse stereo matching method based on the semantic edges. Some simple matching costs are used first, and then a novel adaptive dynamic programming algorithm is proposed to obtain optimal solutions. This algorithm makes use of the disparity or semantic consistency constraint between the stereo images to adaptively search parameters, which can improve the robustness of our method. The proposed method is compared quantitatively and qualitatively with the traditional dynamic programming method, some dense stereo matching methods, and the advanced edge-based method respectively. Experiments show that our method can provide superior performance on the above comparison.
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Keywords:
sparse stereo matching; disparity estimation; semantic edge; dynamic programming; binocular sensor
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MDPI and ACS Style
Zhu, D.; Li, J.; Wang, X.; Peng, J.; Shi, W.; Zhang, X. Semantic Edge Based Disparity Estimation Using Adaptive Dynamic Programming for Binocular Sensors. Sensors 2018, 18, 1074.
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