정확한 스테레오 시차를 위한 시차기울기 기반의 새로운 SGM

We propose a new type of semi-global matching (SGM) in order to solve a streaking problem arising from conventional SGM. Conventional SGM imposes a penalty to a pixel when the disparity of the pixel differs from that of the previous pixel along a scan path, and thus, disparity changes are not easily allowed, causing the streaking effect. The road surface is an appropriate target for such an effect, because the colors of the surfaces are very similar, and the image pixels corresponding to the surfaces show disparities that change very smoothly along the viewing direction. In contrast to conventional SGM, the new type of SGM imposes penalties depending on the disparity gradients, and thus, the streaking effect is controlled. The experimental results show the effectiveness of the proposed SGM method.