Stereo Matching Algorithm Based on Improved Census Transform and Gradient Fusion

Fig. 2. Census transform windows obtained by different algorithms. (a) Different windows; (b) center pixel value; (c) average value of window pixels; (d) our algorithm

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Fig. 3. Disparity images obtained by different algorithms. (a) Left image; (b) right image; (c) true disparity image; (d) CT; (e) impro-CT; (f) GRD; (g) our algorithm

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Fig. 4. Aloe disparity images obtained by our algorithm. (a) Left image; (b) right image; (c) real disparity image; (d) disparity image in multi-scale space; (e) final disparity image

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Fig. 5. Disparity images obtained by different algorithms under different conditions. (a) Left image; (b) right image; (c) ground truth; (d) CT; (e) Impro-CT; (f) GRD; (g) our algorithm

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Fig. 6. Disparity images of the actual scene. (a) Left image; (b) right image; (c) disparity images generated by our algorithm

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Table 1. Parameter of our algorithm
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Table 1. Parameter of our algorithm
Parameter ω_k T_d s λ
Value 9 1 5 9

Table 2. Mismatch rates of different cost algorithms (non-occluded area) unit: %
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Table 2. Mismatch rates of different cost algorithms (non-occluded area) unit: %
Algorithm Baby1 Wood1 Aloe Monopoly Plastic Lampshade2 Average
CT 1.92 8.39 1.90 4.89 3.27 5.99 4.39
Impro-CT 1.87 7.39 2.81 4.77 4.04 5.23 5.23
GRD 3.59 7.66 2.17 7.32 6.09 9.71 5.37
Ours 1.85 8.03 1.75 4.72 3.67 5.01 4.17

Table 3. Mismatch rates of different cost algorithms (occlusion area) unit: %
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Table 3. Mismatch rates of different cost algorithms (occlusion area) unit: %
Algorithm Baby1 Wood1 Aloe Monopoly Plastic Lampshade2 Average
CT 2.38 12.19 2.19 9.04 10.27 7.32 7.23
Impro-CT 2.54 10.60 2.09 8.51 9.53 7.30 6.76
GRD 4.47 11.58 2.78 11.68 8.92 13.77 8.87
Ours 2.30 12.10 1.97 8.29 6.09 5.49 6.04

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Hong Xiao, Chuan Tian, Yi Zhang, Bo Wei, Jiaqi Kang. Stereo Matching Algorithm Based on Improved Census Transform and Gradient Fusion[J]. Laser & Optoelectronics Progress, 2021, 58(2): 0215008

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