{"type":"ScholarlyArticle","title":"Stereo by Two-Level Dynamic Programming","authors":[{"name":"Yuichi Ohta","slug":"yuichi-ohta","given":"Yuichi","family":"Ohta","affiliation":""},{"name":"Takeo Kanade","slug":"takeo-kanade","given":"Takeo","family":"Kanade","affiliation":""}],"abstract":"This paper presents a stereo algorithm using dynamic programming technique. The stereo matehing problem, that is, obtaining a correspondence between right and left images, can be cast as a search problem. When a pair of stereo images is rectified, pairs of corresponding points can be searched for within the same scanlines. We call this search intra-scanline search. This intra-scanline search can be treated as the problern of finding a matehing path on a two dimensional (20) search plane whose axes are the right and left scanlines. Vertically connected edges in the images provide consistency constraints across the 20 search planes. lnter-sco.nline search in a three-dimensional (30) search space, which is a stack of the 20 search planes, is needed to utilize this constraint. Our stereo matehing algorithm uses edge-delimited intervals as elements to be matched, and employs the above mentioned two searches: one is inter-scanline search for possible correspondences of connected edges in right and left images and the other is intra-scanline search for correspondences of edge-delimited intervals on each scanline pair. Dynamic programming is used for both searches which proceed simultaneously in two Ieveis: the former supplies the consistency constraints to the latter while the latter supplies the matehing score to the former. An interval-based similarity metric is used to compute t he score.","doi":null,"url":"https://ijcai.org/proceedings/1985/230","pdf":"https://ijcai.org/proceedings/1985/0230.pdf","markdown":"https://ijcai.org/proceedings/1985/230.md","bibtex":"https://ijcai.org/proceedings/1985/bibtex/230","volume":{"slug":"1985","title":"Proceedings of the Ninth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 1985","url":"https://ijcai.org/proceedings/1985/","year":1985,"location":"Los Angeles, California, USA","dates":"","editors":"Aravind Joshi","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Robotics","track":"Robotics","number":230,"pages":{"first":1120,"last":1125},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}