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MatchingfeaturesfortheMPGstereoalgorithm

zero-crossingsofimageconvolutionswithÑ2GoperatorsofdifferentsizeL

M

S

roughdisparitiesoverlargerange

accuratedisparitiesoversmallrange

1

Zero-crossingsforstereomatching

… …

2

Zero-crossingsforstereomatching

… …

3

disparitymap

left right

3020100

evolvingdepthmap

bird’seyeview

screen

4

2

disparitymap

left right

3020100

evolvingdepthmap

bird’seyeview

screen

5

disparitymap

left right

24144-6

evolvingdepthmap

bird’seyeview

6

disparitymap

left right

20100-10

evolvingdepthmap

bird’seyeview

7

disparitymap

left right

6-4-14-24

evolvingdepthmap

bird’seyeview

8

3

disparitymap

left right

100-10-20

evolvingdepthmap

bird’seyeview

9

disparitymap

left right

0-10-20-30

evolvingdepthmap

bird’seyeview

10

Multi-scalestereoprocessing

left right

Addtogether:(likeahybridimage)•coarsescaleimageswithcoherentstereodisparities

•finescaleimageswithuncorrelated”noise”

Outcome:•canstillfuseimages•toleratelargerangeofstereodisparity•getaroughsenseofdepth

11

Multi-scalestereoprocessing

left right

Addtogether:(likeahybridimage)•coarsescaleimageswithuncorrelated“noise”

•finescaleimageswithcoherentstereodisparities

Outcome:•canstillfuseimages•onlytoleratesmallrangeofstereodisparity

•morevergenceeyemovements

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4

SelectivityforstereoboundariesinV2

VonderHeydt &colleagues:SomeV2cellsareselectivefortheorientation,contrast,andsideofborderownershipofanedge...foredgesdefinedbyluminanceorstereodisparity

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