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Abstract

In a method for correlating two stereo images, the images are subjected to a Laplacian operator and further processed to produce reduced gray scale Laplacian images in which the pixels have a value of +1, 0 or -1. Then the two images are overlapped to produce pairs of overlapping pixels. The values of the two overlapping pixels are summed in a manner so that if both pixels are +1 or both pixels are -1 the summed value is +1, if one pixel is +1 and the other pixel is -1, the resulting sum is -1 and if one or both pixel are zero, the resulting sum is zero. All of the sums or correlation values in regions about each pixel in the two overlapping images are added together to get a new correlation value for each pixel in the overlap resulting in a correlation image. Then, the two Laplacian images are shifted relative to one another and correlation values are again computed for this new overlap. This process is repeated several times resulting in correlation values for each overlap. For each pixel, the overlap which has the highest correlation value is the best match. Having determined the best match one can then determine the location of an object or point in the field of view using standard stereo processing techniques.

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First Claim