SPS-Stereo: Slanted Plane Smoothing Stereo

SPS-Stereo is a dense stereo method employing a slanted plane model. It jointly estimates a superpixel segmentation, boundry labels (such as occlusion boundaries), and a dense depth estimate from a pair of stereo images.

Citation

@inproceedings{Yamaguchi14,
author = {Koichiro Yamaguchi and David McAllester and Raquel Urtasun},
title = {Efficient Joint Segmentation, Occlusion Labeling, Stereo and Flow Estimation},
booktitle = {ECCV},
year = {2014}
}

Building SPS-Stereo

1. Prerequisites
   • libpng
   • png++
   • CUDA(For GPU version only)
2. Building CPU Version
   1. type 'cmake .'
   2. type 'make'
3. Building GPU Version
   1. type './build.sh' or 'make'

Usage of demo code

First, download KITTI stereo/flow dataset from KITTI Vision Benchmark Suite homepage and extract it.

Run SPS-Stereo
> ./spsstereo data_stereo_flow/training/image_0/000000_10.png data_stereo_flow/training/image_1/000000_10.png

Outputs

• 000000_10_disp.png
  Disparity image (PNG 16bit grayscale format)
  (Disparity value) = (Pixel value)/256.0

• 000000_10L_seg.png
  Segmentation image (PNG 16bit grayscale format)
  (Segment ID) = (Pixel value)

• 000000_10L_plane.png
  Estimated disparity planes
  the number of lines = the number of segments
  Each line includes parameters of disparity plane of a segment: (A_i, B_i, C_i)

• 000000_10L_label.txt
  Boundary labeling result
  the number of lines = the number of boundaries
  Each line includes three entries: SegmentID1 SegmentID2 boundary_label
boundary_label: 0 (Occlusion, SegmentID1 is front), 1 (Occlusion, SegmentID2 is front), 2 (Hinge), 3 (Coplanar)

• 000000_10L_boundary.png
  Visualization of segmentation result
  Boundary color means a type of relationship between neighboring segments: Red/Blue-Occluion (Red side is front), Green-Hinge, Gray- Coplaner

Exmaples

	Teddy	Car
Left
Right
SGM_disparity
SPS_disparity
ground_truth		NA

Notice

1. In the GPU version, the width or height of the input images can't be larger than 1024.
2. Change DISPARITY_TOTAL to set maximum disparity.
3. Change CONSISTENCY_THRESHOLD to set constraint for left and right consistency.

Running time comparison

Setting the maximum disparity to 128, GPU version is about 5 times faster than CPU version, as shown in the table below.

Image Size	GPU Version	CPU Version
640*480	0.12s	0.50s
450*435	0.06s	0.30s
433*381	0.06s	0.30s

License

SPS-Stereo is licensed under the GNU General Public License Version 3 (GPLv3), see http://www.gnu.org/licenses/gpl.html.