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Disparity map issues

asked 2015-04-02 16:29:09 -0500

Gollum999 gravatar image

I've created a small stereo camera rig with an Arduino and some cheap serial cameras. My goal is to be able to (ideally) reconstruct a scene in 3D from a pair of stereo pictures. However, the disparity maps I am getting are of very poor quality, much worse than some of the examples I have seen online. I'm worried it's just because the cameras are really cheap, but I wanted to ask here first in case there is something I am doing wrong.

Stereo calibration seems to work fine; the error value returned was around 0.3, and the rectified images seem to line up correctly.

I've been messing around with the input parameters, and the image below is basically the best I've been able to get. As you can see, it's far from great.

Disparity map

I've tested the input parameters pretty extensively, so I don't think that's the problem. So I think that narrows it down to either the calibration or the cameras themselves.

Anyone with more experience than me have any ideas?

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answered 2015-04-03 03:17:33 -0500

boaz001 gravatar image

updated 2015-04-03 04:35:03 -0500

I think the noise in the image is the main cause of the poor results. Especially with a small block size (2), it will give you almost random results in many areas.

Also stereo matching on a surface like the white board on the left or even the wall are very hard. Because it matches almost with all pixels in the neighborhood.

First suggestion is to try to use a well-illuminated environment, even most cheap cameras are doing okay when the light conditions are good (in your image that doesn't look good), maybe try it outdoors?

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Asked: 2015-04-02 16:29:09 -0500

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Last updated: Apr 03 '15