Correctness Prediction, Accuracy Improvement and Generalization of Stereo Matching Using Supervised Learning

摘要

Machine learning has been instrumental in most areas of computer vision, but has not been applied to the problem of stereo matching with similar frequency or success. In this paper, we present a supervised learning approach by defining a set of features that capture various forms of information about each pixel, and then by using them to predict the correctness of stereo matches based on a random forest. We show highly competitive results in predicting the correctness of matches and in confidence estimation, which allows us to rank pixels according to the reliability of their assigned disparities. Moreover, we show how these confidence values can be used to improve the accuracy of disparity maps by integrating them with an MRF-based stereo algorithm. This is an important distinction from current literature that has mainly focused on sparsification by removing potentially erroneous disparities to generate quasi-dense disparity maps. Finally, we demonstrate domain generalization of our method by applying classifiers to datasets different than those they were trained on with minimal loss of accuracy.