In binocular stereo matching, points in left and right images are matched according to features that characterize each point and identify pairs of points. When one tries to use multiple features, a difficult problem is which feature, or combination of features, to use. Moreover, features are difficult to cross-normalize and so comparisons must take into account not only their output, but also their distribution (their output for different parameters). We present a new approach that uses geometric constraints on the matching surface to select optimal feature or combination of features from multiscale-edge and intensity features. The approach requires the cyclopean coordinate system to set mutually exclusive matching choices. To obtain the matching surface, we solve a global optimization problem on an energy functional that models occlusions, discontinuities, and inter-epipolar-line interactions.
['Hiroshi Ishikawa']
Multi-scale feature selection in stereo