International Journal of Computer Vision

, Volume 47, Issue 1, pp 229–246

Real-Time Correlation-Based Stereo Vision with Reduced Border Errors


  • Heiko Hirschmüller
    • Centre for Computational IntelligenceDe Montfort University
  • Peter R. Innocent
    • Centre for Computational IntelligenceDe Montfort University
  • Jon Garibaldi
    • Centre for Computational IntelligenceDe Montfort University

DOI: 10.1023/A:1014554110407

Cite this article as:
Hirschmüller, H., Innocent, P.R. & Garibaldi, J. International Journal of Computer Vision (2002) 47: 229. doi:10.1023/A:1014554110407


This paper describes a real-time stereo vision system that is required to support high-level object based tasks in a tele-operated environment. Stereo vision is computationally expensive, due to having to find corresponding pixels. Correlation is a fast, standard way to solve the correspondence problem. This paper analyses the behaviour of correlation based stereo to find ways to improve its quality while maintaining its real-time suitability. Three methods are suggested. Two of them aim to improve the disparity image especially at depth discontinuities, while one targets the identification of possible errors in general. Results are given on real stereo images with ground truth. A comparison with five standard correlation methods is provided. All proposed algorithms are described in detail and performance issues and optimisation are discussed. Finally, performance results of individual parts of the stereo algorithm are shown, including rectification, filtering andcorrelation using all proposed methods. The implemented system shows that errors of simple stereo correlation, especially in object border regions, can be reduced in real-time using non-specialised computer hardware.

stereo visionreal-timecorrelation problemsmultiple correlation windowsobject border correction

Copyright information

© Kluwer Academic Publishers 2002