Stereo matching algorithm based on affine invariant region constraint

Aiming at the exiting stereo matching algorithms which could not meet the speed requirements, a novel quick stereo matching method based on region constraint was presented. Firstly, four pairs of stable feature points were selected as the initial matching points, and each quadrilateral was structured according to the four pairs of matching points in the left and right image respectively. Then the quadrilateral was divided into four triangles and each triangle was an area for matching. Feature points in the area were matched based on affine invariant. After the matching feature points were obtained, a small window was structured centered on those points. At last, the precision testing was implemented using the traditional method based on gray information. Experimental results demonstrate that the proposed algorithm can notably improve the matching speed which meets the requirement of real time.