REAL-TIME DEPTH MAP ESTIMATION FROM INFRARED STEREO IMAGES OF RGB-D CAMERAS
- 1State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China
- 2Department of Physics, ETH Zurich, Zurich 8093, Switzerland
- 3Department of Land Surveying and Geo-Informatics, The Hong Kong Polytechnic University, Hong Kong 999077, China
Keywords: Stereo Matching, Infrared Image, RGB-D Camera, Depth Map, Disparity
Abstract. RGB-D cameras are novel sensing systems that can rapidly provide accurate depth information for 3D perception, among which the type based on active stereo vision has been widely used. However, there are some problems exiting in use, such as the short measurement range and incomplete depth maps. This paper presents a robust and efficient matching algorithm based on semi-global matching to obtain more complete and accurate depth maps in real time. Considering characteristics of captured infrared speckle images, the Gaussian filter is performed firstly to restrain noise and enhance the relativity. It also adopts the idea of block matching for reliability, and a dynamic threshold selection of the block size is used to adapt to various situation. Moreover, several optimizations are applied to improve precision and reduce error. Through experiments on the Intel Realsense R200, the excellent capability of our proposed method is verified.