Dahua Li, Hongyu Shen, Xiao Yu, Qiang Gao, Hongwei Wang. Binocular Ranging Method Using Stereo Matching Based on Improved Census Transform[J]. Laser & Optoelectronics Progress, 2019, 56(11): 111503
- Laser & Optoelectronics Progress
- Vol. 56, Issue 11, 111503 (2019)
Fig. 1. Geometric structure of epipolar-line
Fig. 2. Geometric structure of epipolar-lines for parallel correction
Fig. 3. Camera calibration principle
Fig. 4. Schematic of hardware system. (a) Side view; (b) top view
Fig. 5. Stereo correction results
Fig. 6. Disparity map for stereo matching after row correction. (a) Original image of left camera; (b) disparity map obtained by Census transform; (c) disparity map obtained by improved Census transform
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Table 1. Comparison of errors between original Census transform and improved Census transform
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