On Stereo Confidence Measures for Global Methods: Evaluation, New Model and Integration into Occupancy Grids
On Stereo Confidence Measures for Global Methods: Evaluation, New Model and Integration into Occupancy Grids
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DOI：
10.1109/tpami.2015.2437381
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发表时间：
2016
影响因子：
23.6
通讯作者：
Martim Brandao;R. Ferreira;K. Hashimoto;A. Takanishi;J. Santos-Victor
中科院分区：
文献类型：
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作者：
Martim Brandao;R. Ferreira;K. Hashimoto;A. Takanishi;J. Santos-Victor
立体置信度度量是全局重建方法和立体某些应用的重要函数。在本文中，我们对定义在整个视差范围内的几种置信度模型进行了评估和比较。我们提出了一种新的立体可信度度量，我们称之为直方图传感器模型(HSM)，并说明了它是整体性能最好的函数之一。对于参数模型，我们还介绍了一种系统的参数估计方法，与以前文献中计算的参数相比，该方法被证明具有更好的性能。在不同窗口大小和模型参数下，将所有模型应用于两个不同的成本函数，对所有模型进行了评估。与以前的立体声置信度基准文献相反，我们使用的标准不仅对赢家通吃的立体声很重要，而且对全球应用也很重要。为此，我们在实际应用中对模型进行了评估，使用了一种通过占用网格进行3D重建的最新公式，该公式集成了所有视差的立体置信度。我们在室内和室外的公开可用的数据集上获得并讨论了我们的结果。
Stereo confidence measures are important functions for global reconstruction methods and some applications of stereo. In this article we evaluate and compare several models of confidence which are defined at the whole disparity range. We propose a new stereo confidence measure to which we call the Histogram Sensor Model (HSM), and show how it is one of the best performing functions overall. We also introduce, for parametric models, a systematic method for estimating their parameters which is shown to lead to better performance when compared to parameters as computed in previous literature. All models were evaluated when applied to two different cost functions at different window sizes and model parameters. Contrary to previous stereo confidence measure benchmark literature, we evaluate the models with criteria important not only to winner-take-all stereo, but also to global applications. To this end, we evaluate the models on a real-world application using a recent formulation of 3D reconstruction through occupancy grids which integrates stereo confidence at all disparities. We obtain and discuss our results on both indoors' and outdoors' publicly available datasets.