[ros-users] Publications on stereo_image_proc?

Sabrina Kliegl skliegl at zitmail.upb.de
Tue Feb 8 14:07:37 UTC 2011

Hi Kurt,

thank you, that is what I was looking for. Maybe you can answer me some 
questions about the current OpenCV implementation of the block matching:

Did I get it right, that you are using a horizontal Sobel filter now 
instead of the LoG (as mentioned in the paper)? If so, why only a 
horizontal Sobel filter and no vertical Sobel as well?

Is the block matching applied to the images resulting from the edge 
detector or to the sharpend original images?

And I wonder how you achieve subpixel accuracy. I suppose the last 
magical lines of findStereoCorrespondenceBM(...) to do this:

int p = sad[mind+1], n = sad[mind-1], d = p + n - 2*sad[mind] + 
std::abs(p - n);
dptr[y*dstep] = (short)(((ndisp - mind - 1 + mindisp)*256 + (d != 0 ? 
(p-n)*256/d : 0) + 15) >> 4);

But I don't get the idea behind it. Can you give me a hint?


Am 08.02.2011 14:49, schrieb Kurt Konolige:
> Sabrina, this is still the best publication I have for this:
> K. Konolige
> "Small Vision Systems: hardware and implementation"
> Eighth International Symposium on Robotics Research
> Hayama, Japan, October 1997
> Cheers --Kurt
> On Tue, Feb 8, 2011 at 1:40 AM, Sabrina Kliegl<skliegl at zitmail.upb.de>  wrote:
>> Hi everybody,
>> I'm using stereo_image_proc in my diploma thesis and I wonder if there
>> is any publication of Kurt Konolige (or somebody else) which explains
>> the pre- and postfiltering and which I could use as a reference. Thanks!
>> Regards,
>> Sabrina
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