User manual
Table Of Contents
- Introduction
- Getting started with smallv
- Stereo Geometry
- Calibration
- API Reference – C++ Language
Small Vision System User Manual 41
3.5 Multiscale Disparity
Multiscale processing can increase the amount of information available in the disparity image, at a
nominal cost in processing time. In multiscale processing, the disparity calculation is carried out at the
original resolution, and also on images reduced by 1/2. The extra disparity information is used to fill in
dropouts in the original disparity calculation (Figure 3-8).
Figure 3-8 Effects of multiscale disparity calculation. Upper figure shows disparity dropouts in a
typical scene, where there is not enough texture for correlation to be reliable. Adding disparity
information from a ½ resolution image (lower part of figure) shows additional coverage in the
disparity image.