A New Hardware Module for Stereo Matching Using Zernike Moments

Abstract

This paper presents a new hardware module suitable for matching point features between two uncalibrated images of a scene with real-time response. A robust matching is established under a mixed geometric and moment-based correspondence strength function. In order to provide rotation invariance and low noise sensitivity, Zernike moments are utilized. The proposed system is capable of extracting correspondences between stereo pairs at a rate of over 25 pairs per second, for VGA images.