Binocular Images Dense Matching considering Image Adaptive Color Weights and Feature Points

Figure 3

Sketch map of SGM aggregation path correction. The red line represents the incorrect matching path and the green line indicates the correct matching path. According to the coordinates of feature points obtained by SIFT method, the accurate disparity information of the corresponding two points can be obtained. The green checkmarks are the exact matching point positions, which are obtained by the coordinates and the disparity information of feature points. The yellow crosses are invalid cost values. The matching paths cannot pass. When the incorrect matching path passes through a matching point, the matching path will be forcibly corrected to the matching point, which plays the role of path rectification.