Zks Stereo Software

ZK Stereo Software: (http://www.cs.cmu.edu/~clz/stereo.html)

ZK stereo (Cooperative Algorithm for Stereo Matching and Occlusion Detection) is a program developed by Carnegie Mellon University. It applies the triangulation algorithm discussed above.

The program reads in file that allows the user to specify the two images, the range of disparity, the size of the window for pattern matching, and some other options for refining the stereo output.

params.JPG

The algorithm iterates through all the points of an image. For each point it extracts a window, the size of which is specified by a user. After extracting the window, it then iterates through every possible location and gives a scored based on how closely each pixels from one image matches against a pixel in the other image. When all points are matched, the program computes disparity values using triangulation technique for stereo matching.

sample_zks.JPG

The images above are sample input. When run, ZK stereo outputs a map of the disparity between the two different images, represented by a grey-scale image where lighter shades means more disparity (object is closer) and darker shades means less disparity (object is farther away).

Also displayed in the ZK stereo program is the confidence that the disparity is correct. The confidence is determined by how good of a score a point received when its window was matched to the other image. Typically edges of objects tend to have a higher confidence. This is because there is more variance at edges which makes it receive a higher score when matching it to the other image.


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