Multi-Scale Binocular Stereo Matching Based on Semantic Association

Aiming at the low accuracy of existing binocular stereo matching and depth estimation methods, this paper proposes a multi-scale binocular stereo matching network based on semantic association. A semantic association module is designed to construct the contextual semantic association relationship among the pixels through semantic category and attention mechanism. The disparity of those regions where the disparity is easily estimated can be used to assist the disparity estimation of relatively difficult regions, so as to improve the accuracy of disparity estimation of the whole image. Simultaneously, a multi-scale cost volume computation module is proposed. Unlike the existing methods, which use a single cost volume, the proposed multi-scale cost volume computation module designs multiple cost volumes for features of different scales. The semantic association feature and multi-scale cost volume are aggregated, which fuses the high-level semantic information and the low-level local detailed information to enhance the feature representation for accurate stereo matching. We demonstrate the effectiveness of the proposed solutions on the KITTI2015 binocular stereo matching dataset, and our model achieves comparable or higher matching performance, compared to other seven classic binocular stereo matching algorithms.