CSNet: Cascade stereo matching network using multi-information cost volume

The disparity map produced by matching a pair of rectified stereo images provides estimated depth information and accurate distance calculations for autonomous driving. For most stereo matching networks, cost volume plays a crucial role in the accuracy of disparity maps. To increase the accuracy of disparity maps, an improved cost volume method called multi-information cost volume (MICV) is proposed, with the fusion of concatenation volume and improved correlation volume, which is calculated both in inner product space and Euclidean space, to measure the correlation similarity between features in the left and right images. The inclusion of a squeeze and excitation (SE) module further improves MICV by adjusting the contribution of the correlation volume. To refine the disparity map and enhance the semantics of small objects, a cascade stereo network called CSNet is proposed, with a dilation feature fusion unit (DFFU) to calculate and integrate disparity maps from three different scale branches. The smaller scale branches are gradually integrated into the larger scale branches to implement the transmission of semantic information. The proposed method was evaluated using several established benchmarks including the Sceneow, KITTI2012 and KITTI2015 datasets. Experimental results demonstrate that authors' method produces more accurate disparity maps compared with existing state-of-the-art methods.

• Record URL:
  https://doi.org/10.1049/itr2.12050
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/1751956X
• Supplemental Notes:
  • © 2021 XiaoTao Shao et al.
• Authors:
  • Shao, XiaoTao
  • Zhang, Wen
  • 0000-0001-8847-1664
  • Guo, MingKun
  • Guo, SiQi
  • Qian, ManYi
• Publication Date: 2021-5

Language

• English

Media Info

• Media Type: Web
• Features: Figures; References; Tables;
• Pagination: pp 635-645
• Serial:
  • IET Intelligent Transport Systems
  • Volume: 15
  • Issue Number: 5
  • Publisher: Institution of Engineering and Technology (IET)
  • ISSN: 1751-956X
  • EISSN: 1751-9578
  • Serial URL: https://ietresearch.onlinelibrary.wiley.com/journal/17519578
• Publication flags:

  Open Access (libre)

Subject/Index Terms

• TRT Terms: Autonomous vehicles; Costs; Data files; Image analysis; Maps; Networks
• Subject Areas: Data and Information Technology; Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01780391
• Record Type: Publication
• Files: TRIS
• Created Date: Aug 27 2021 2:56PM