A multi-block-matching approach for stereo

Abstract

Block-Matching stereo is commonly used in applications with low computing resources in order to get some rough depth estimates. However, research on this simple stereo estimation technique has been very scarce since the advent of energy-based methods which promise a higher quality and a larger potential for further improvement. In the domain of intelligent vehicles, especially semi-global-matching (SGM) is widely spread due to its good performance and simple implementation. Unfortunately, the big downside of SGM is its large memory footprint because it is working on the full disparity space image. In contrast to this, local block-matching stereo is much more lean. In this paper, we will introduce a novel multi-block-matching scheme which tremendously improves the result of standard block-matching stereo while preserving the low memory-footprint and the low computational complexity. We tested our new multi-block-matching scheme on the KITTI stereo benchmark as well as on the new Middlebury stereo benchmark. For the KITTI benchmark we achieve results that even surpass the results of the best SGM implementations. For the new Middlebury benchmark we get results that are only slightly worse than state-of-the-art SGM implementations.