Systems and methods for row causal scan-order optimization stereo matching

Abstract

Systems and methods to determine a disparity map using row causal scanline optimization stereo matching are presented. A method includes, for each corresponding pixel P between a pair of input stereo images, and for each considered disparity, determining a basic match cost and a match cost for each of a set of given orientations including an east orientation and one or more other orientations, determining an overall match cost for each pixel at each considered disparity based on a sum of the determined match costs for all considered orientations for each pixel and disparity pair, and determining a resulting disparity for each pixel based on a minimum of the determined overall match costs, where a subset of the determined resulting disparities becomes available prior to completion of the input images being read in, and where the resulting disparities for all pixels are determined in a single pass through the input images.