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1、416IEEETRANSACTIONSONPATTERNANALYSISANDMACHINEINTELLIGENCE,VOL.32,NO.3,MARCH2010DenseStereoMatchingoverthePanumBandAnkurAgarwalandAndrewBlake,Fellow,IEEEAbstract—Stereomatchingalgorithmsconventionallymatchoverarangeofdisparitiessufficienttoencompassallvisible3Dsc
2、enepoints.Humanvision,however,worksoveranarrowbandofdisparities—Panum’sfusionalband—whosetypicalrangemaybeaslittleas1/20ofthefullrangeofdisparitiesforvisiblepoints.Onlypointsinsidethebandarefusedvisually;theremainderofpointsareseendiplopically.Aprobabilisticappro
3、achispresentedfordensestereomatchingunderthePanumbandrestriction.Itisshownthatexistingdensestereoalgorithmsareinadequateinthisproblemsettingandthemainproblemissegmentation,markingtheimageintotheareasthatfallinsidetheband.Anapproximationisderivedthatmakesupformiss
4、ingout-of-bandinformationwitha“proxy”basedonimageautocorrelation.ItisshownthatthePanumProxyalgorithmachievesaccuracyclosetowhatcanbeobtainedwhenthefulldisparitybandisavailable,andwithgainsofbetweenoneandtwoordersofmagnitudeincomputationtime.Therearealsosubstantia
5、lgainsincomputationspace.Panumbandprocessingisalsodemonstratedinanactivestereopsisframework.IndexTerms—Stereoscopicvision,energyminimization,Panum’sfusionalarea,3Dvision,activevision.Ç1INTRODUCTIONNattentionalstereovision,theviewersteersavolumeof1.Itisconceptuall
6、yappealingtodevelopastereoIinterestaroundthescene.Thisisaproblemthathasalgorithmwhichfocusesonavolumeofinterest,inreceivedagooddealofattentionintherealmsofthemannerknowntoprevailinhumanvision.Whyoculomotorcontrol[7],[13]andsparsestereo,e.g.,[19].Inshouldastereoal
7、gorithmexpendneedlessattentiontheareaofdensestereo,however(e.g.,[17],[8],[4],[6],[15],ontheentirebackgroundofascene?[20]),theissueofrestrictingattentiontoavolume,witha2.Thecomputationalcostforstereomatchinggrowslinearly(orfaster)withvolumeofinterest.Thisislimited
8、rangeofdepthorequivalentlydisparity,hasnottrueforbothofthemaincomponentsofstereobeenaddressed.Itisofconsiderableimportancefromthematching:costcomputationandglo
