The KITTI Vision Benchmark Suite

This work presents a new low-level real-time algorithm for simultaneous edge drawing and disparity calculation in stereo image pairs. It works by extending the principles from the ED algorithm, a fast and robust edge detector able to produce one pixel-wide chains of pixels for the edges in the image. In this paper the ED algorithm is extended to run simultaneously on both images in a stereo-pair. The disparity information is obtained by matching only a few anchor points and then propagating those disparities along the image edges. This allows the reduction of computational costs compared to other edge-based algorithms, as only a few pixels require to be matched, and avoids the problems present in other edge-point based approaches. The experiments show that this new approach is able to obtain accuracies similar to other state-of-the-art approaches but with a reduced number of computations.

TBD

@Inbook{Peña2017,
author="Pe{\~{n}}a, Dexmont
and Sutherland, Alistair",
editor="Chen, Chu-Song
and Lu, Jiwen
and Ma, Kai-Kuang",
title="Disparity Estimation by Simultaneous Edge Drawing",
bookTitle="Computer Vision -- ACCV 2016 Workshops: ACCV 2016 International Workshops, Taipei, Taiwan, November 20-24, 2016, Revised Selected Papers, Part II",
year="2017",
publisher="Springer International Publishing",
address="Cham",
pages="124--135",
abstract="This work presents a new low-level real-time algorithm for simultaneous edge drawing and disparity calculation in stereo image pairs. It works by extending the principles from the ED algorithm, a fast and robust edge detector able to produce one pixel-wide chains of pixels for the edges in the image. In this paper the ED algorithm is extended to run simultaneously on both images in a stereo-pair. The disparity information is obtained by matching only a few anchor points and then propagating those disparities along the image edges. This allows the reduction of computational costs compared to other edge-based algorithms, as only a few pixels require to be matched, and avoids the problems present in other edge-point based approaches. The experiments show that this new approach is able to obtain accuracies similar to other state-of-the-art approaches but with a reduced number of computations.",
isbn="978-3-319-54427-4",
doi="10.1007/978-3-319-54427-4_10",
url="https://doi.org/10.1007/978-3-319-54427-4_10"
}