Learning a General-Purpose Confidence Measure Based on O(1) Features and a Smarter Aggregation Strategy for Semi Global Matching

Abstract

Inferring dense depth from stereo is crucial for several computer vision applications and Semi Global Matching (SGM) is often the preferred choice due to its good tradeoff between accuracy and computation requirements. Nevertheless, it suffers of two major issues: streaking artifacts caused by the Scanline Optimization (SO) approach, at the core of this algorithm, may lead to inaccurate results and the high memory footprint that may become prohibitive with high resolution images or devices with constrained resources. In this paper, we propose a smart scanline aggregation approach for SGM aimed at dealing with both issues. In particular, the contribution of this paper is threefold: i) leveraging on machine learning, proposes a novel generalpurpose confidence measure suited for any for stereo algorithm, based on O(1) features, that outperforms state of-the-art ii) taking advantage of this confidence measure proposes a smart aggregation strategy for SGM enabling significant improvements with a very small overhead iii) the overall strategy drastically reduces the memory footprint of SGM and, at the same time, improves its effectiveness and execution time. We provide extensive experimental results, including a cross-validation with multiple datasets (KITTI 2012, KITTI 2015 and Middlebury 2014).