Stereo image matching using wavelet scale-space representation

A multi-resolution technique for matching a stereo pair of images based on translation invariant discrete multi-wavelet transform is presented. The technique uses the well known coarse to fine strategy, involving the calculation of matching points at the coarsest level with consequent refinement up to the finest level. Vector coefficients of the wavelet transform modulus are used as matching features, where modulus maxima defines the shift invariant high-level features (multiscale edges) with phase pointing to the normal of the feature surface. The technique addresses the estimation of optimal corresponding points and the corresponding 2D disparity maps. Illuminative variation that can exist between the perspective views of the same scene is controlled using scale normalization at each decomposition level by dividing the details space coefficients with approximation space and then using normalized correlation. The problem of ambiguity, explicitly, and occlusion, implicitly, is addressed by using a geometric topological refinement procedure and symbolic tagging.