快速对称多窗口正交三目立体匹配

提出了一种对称多窗口正交三目立体匹配算法，利用双目立体视觉中有效的对称多窗口（symmetry multi-window,SMW)方法视差估计的不确定度，在正交三目立体匹配中融合通过SMW方法得到的水平和垂直两个图像对的视差计算结果形成新的视差图。在实现三目立体匹配的同时提出了双目SMW立体匹配方法快速算法，使得计算一对立体图像的9个窗口两个方向（从左到右和从右到左）ZNCC的速度和计算一个ZNCC相当，计算时间约只有原来的1／18。通过对实际的三目立体图像组的实验，结果表明相对于单纯的双目SMW方法，在遮断区域、单方向平滑区域都得到了具有鲁棒性的视差估计，而且计算速度令人满意。

FAST ORTHOGONAL TRINOCULAR STEREO MATCHING WITH SYMMETRY MULTI-WINDOW

An new algorithm-orthogonal trinocular stereo with SMW (symmetry multi window), is presented in this paper, which is based on the disparity estimation uncertainty of the efficient method in binocular stereo SMW. Using the disparity estimation uncertainty, the disparity maps of horizontal stereo pair and vertical stereo pair from SMW method are fused into a new one. In the implementation of this method, a fast algorithm of binocular SMW is put forward, which makes the time of computing nine windows and two directions (from left to right and from right to left) ZNCC equivalent to that of computing one ZNCC . The time is reduced to 1/18 of the original. Experiments with read trinocular stereo images have been done and the results show that comparing with the binocular SMW and other similiar methods, the new algorithm yields robust disparity estimation in the presence of occlusion and smooth region in single direction, and the speed of computing is satisfactory.