Semi-global stereo matching under large and spatially variant perceptive deviations

Accurate and fast approximate global energy minimisation with semi-global matching (SGM) reconstructs a single visible 3D surface from a stereo pair of images by combining surface cross-sections, or profiles, found in multiple directions using 1D belief propagation (BP). Each energy measures a mismatch between corresponding signals in the images, which is appended with a weighted unevenness of the surface. To account for frequent in practice...