Joint Image Denoising and Disparity Estimation via Stereo Structure PCA and Noise-Tolerant Cost

Stereo Image Restoration via Attention-Guided Correspondence Learning

Although stereo image restoration has been extensively studied, most existing work focuses on restoring stereo images with limited horizontal parallax due to the binocular symmetry constraint. Stereo images with unlimited parallax (e.g., large ranges and asymmetrical types) are more challenging in real-world applications and have rarely been explored so far. To restore high-quality stereo images with unlimited parallax, this paper proposes an attention-guided correspondence learning method, which learns both self- and cross-views feature correspondence guided by parallax and omnidirectional attention. To learn cross-view feature correspondence, a Selective Parallax Attention Module (SPAM) is proposed to interact with cross-view features under the guidance of parallax attention that adaptively selects receptive fields for different parallax ranges. Furthermore, to handle asymmetrical parallax, we propose a Non-local Omnidirectional Attention Module (NOAM) to learn the non-local correlation of both self- and cross-view contexts, which guides the aggregation of global contextual features. Finally, we propose an Attention-guided Correspondence Learning Restoration Network (ACLRNet) upon SPAMs and NOAMs to restore stereo images by associating the features of two views based on the learned correspondence. Extensive experiments on five benchmark datasets demonstrate the effectiveness and generalization of the proposed method on three stereo image restoration tasks including super-resolution, denoising, and compression artifact reduction.

Research on the Improvement of Semi-Global Matching Algorithm for Binocular Vision Based on Lunar Surface Environment

The low light conditions, abundant dust, and rocky terrain on the lunar surface pose challenges for scientific research. To effectively perceive the surrounding environment, lunar rovers are equipped with binocular cameras. In this paper, with the aim of accurately detect obstacles on the lunar surface under complex conditions, an Improved Semi-Global Matching (I-SGM) algorithm for the binocular cameras is proposed. The proposed method first carries out a cost calculation based on the improved Census transform and an adaptive window based on a connected component. Then, cost aggregation is performed using cross-based cost aggregation in the AD-Census algorithm and the initial disparity of the image is calculated via the Winner-Takes-All (WTA) strategy. Finally, disparity optimization is performed using left-right consistency detection and disparity padding. Utilizing standard test image pairs provided by the Middleburry website, the results of the test reveal that the algorithm can effectively improve the matching accuracy of the SGM algorithm, while reducing the running time of the program and enhancing noise immunity. Furthermore, when applying the I-SGM algorithm to the simulated lunar environment, the results show that the I-SGM algorithm is applicable in dim conditions on the lunar surface and can better help a lunar rover to detect obstacles during its travel.