Window Based Matching


### Correspondence search
![](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2Fe5c7e009-6584-41ca-b507-1c3a38d31e37%2FUntitled.png?table=block&id=77521712-3897-4024-b399-c4c234c697d0&cache=v2)
rectify the two stereo images to transformepipolar lines into scanlines
![](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F6f996b69-b70f-4697-8d21-fe91bd226cd3%2FUntitled.png?table=block&id=cc7f1fd3-6ea5-4a72-8892-09fee7219e9f&cache=v2)
Matching cost: SSD or normalized correlation

### The similarity constraint is local so Need to enforce non-local correspondence constraints
- uniqueness
- ordering
- smoothness - disparity value change slowly (derivative)









