Robotics and Computer Vision Lab

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2009.09.16 17:46

Stereo Matching with Symmetric Cost Functions

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저 자 Kukjin Yoon, In So Kweon
학 회 Proceeding of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR)
논문일시(Year) 2006
논문일시(Month) 06
Recently, many global stereo methods have achieved
good results by modeling a disparity surface as a Markov
random field (MRF) and by solving an optimization problem
with various techniques. However, most global methods
mainly focus on how to minimize conventional cost functions
efficiently, although it is more important to define cost
functions well to improve performance.
In this paper, we propose new symmetric cost functions
for global stereo methods. We first present a symmetric data
cost function for the likelihood and then propose a symmetric
discontinuity cost function for the prior in the MRF
model for stereo. In defining cost function, both the reference
image and the target image are taken into account to
improve performance without modeling half-occluded pixels
explicitly and without using color segmentation. The
performance improvement of stereo matching due to the
proposed symmetric cost functions is verified by applying
the proposed symmetric cost functions to the belief propagation
(BP) based stereo method. Experimental results for
standard testbed images show that the performance of the
BP based stereo method is greatly improved by the proposed
symmetric cost functions.

List of Articles
54. CALOS : Camera And Laser for Odometry Sensing
Yunsu Bok, Youngbae Hwang, In So Kweon
Proceedings of the 13th Japan-Korea Joint Workshop on Frontiers of Computer Vision (FCV) 2007 / 01
53. Object Categorization Robust to Surface Markings using Entropy-guided Codebook
Sungho Kim, In So Kweon
IEEE Workshop on Applications of Computer Vision (WACV) 2007 / 02
52. Determination of Color Space for Accurate Change Detection
Youngbae Hwang, Jun-sik Kim, In So Kweon
IEEE International Conference on Image Processing (ICIP) 2006 / 10
51. Semi-metric Space: A New Approach to Treat Orthogonality and Parallelism
Jun-sik Kim, In So Kweon
Asian Conference on Computer Vision (ACCV) 2006 / 01
50. Synergistic Place and Object Recognition using Bidirectional Context Information
Sungho Kim, In So Kweon
British Machine Vision Conference (BMVC) 2006 / 09
49. Fast Separation of Reflection Components Using a Specularity-Invariant Image Representation
Kukjin Yoon, Yoojin Choi, In So Kweon
IEEE International Conference on Image Processing (ICIP) 2006 / 10
48. Estimating Intrinsic Parameters of Cameras using Two Arbitrary Rectangles
Jun-sik Kim, In So Kweon
International Conference on Pattern Recognition (ICPR) 2006 / 08
47. Multi-Modal Sequential Monte Carlo for On-Line Hierarchical Graph Structure Estimation in Model-based Scene Interpretation
Sungho Kim, In So Kweon
International Conference on Pattern Recognition (ICPR) 2006 / 08
46. Automatic Extraction of Parallel Lines in Catadioptric Images
Jean-Charles Bazin, In So Kweon
Proc. of 13th IEEE International Conference on Advanced Robotics (IEEE ICAR'07) 2007 / 08
45. Simultaneous Classification and Visual Word Selection using Entropy-based Minimum Description Length
Sungho Kim, In So Kweon
International Conference on Pattern Recognition (ICPR) 2006 / 08
44. Fast Central Catadioptric Line Extraction
Jean-Charles Bazin, Cedric Demonceaux, Pascal Vasseur
Proc. of 3rd Iberian Conference on Pattern Recognition and Image Analysis (IbPRIA’07) 2007 / 06
43. Background Robust Object Labeling by Voting of Weight-Aggregated Local Features
Sungho Kim, Kukjin Yoon, In So Kweon
International Conference on Pattern Recognition (ICPR) 2006 / 08
42. Object Recognition using Generalized Robust Invariant Feature and Gestalt Law of Proximity and Similarity
Sungho Kim, Kukjin Yoon, In So Kweon
5th IEEE Workshop on Perceptual Organization in Computer Vision (CVPRW) 2006 / 06
41. Efficient Feature Tracking for Visual SLAM by Pairwise Constraints
Jungho Kim, Hyeongwoo Kim, In So Kweon
The 4th International Conference on Ubiquitous Robots and Ambient Intelligence(URAI) 2007 / 11
40. COP: A new method for extracting edges and corners
Suncheol Bae, In So Kweon, ChoongDon Yoo
Lecture Notes in Computer Science (LNCS) 2006 / 01
39. Cosegmentation as a Generalized Correspondence Problem -A Motion Model Driven Approach
Ouk Choi, In So Kweon
The 4th International Conference on Ubiquitous Robots and Ambient Intelligence(URAI) 2007 / 11
38. Euclidean Structure from Confocal Conics: Theory and Application to Camera Calibration
Pierre Gurdijos, Jun-sik Kim, In So Kweon
Proceeding of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2006 / 07
37. Terrain Classification Using Texture Recognition for Autonomous Robot
Hanbyul Joo, In So Kweon
The 4th International Conference on Ubiquitous Robots and Ambient Intelligence(URAI) 2007 / 11
36. Simultaneous Plane Extraction and 2D Homography Estimation using Local Feature Transformations
Ouk Choi, Hyeongwoo Kim, In So Kweon
Asian Conference on Computer Vision 2007 / 11
35. Robust Feature Matching for Loop Closing and Localization
Jungho Kim, In So Kweon
IEEE/RSJ International Conference on Robots and Systems 2007 / 10
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