Stereo correspondence is hard because di erent image features can look alike. We propose a measure for the ambiguity of image points that allows matching distinctive points rst and breaks down the matching task into smaller and separate subproblems. Experiments with a branch-and-bound algorithm based on this measure demonstrate the ensuing e ciency and low likelihood of incorrect matches. Categ...

Stereo matching is used in many computer vision applications such as 3D reconstruction, robot navigation, robotic surgery, 3-D video surveillance, and tracking object in 3D space. Real time stereo matching is difficult due to the heavy computation required for matching algorithms. In this paper a CPU/GPU heterogeneous computing platform is used to accelerate the processing and run the system in...