Abstract
Most classical local stereovision matching algorithms use features representing objects in both images and compute the minimum difference attribute values. We have verified that the differences in attributes for the true matches cluster in a cloud around a centre. The correspondence is established on the basis of the minimum squared Mahalanobis distance between the difference of the attributes for a current pair of features and the cluster centre (similarity constraint). We introduce a new supervised learning strategy derived from the Learning Vector Quantization (LVQ) approach to get the best cluster centre. Additionally, we obtain the contribution or specific weight of each attribute for matching. We improve the learning law introducing a variable learning rate. The supervised learning and the improved learning law are the most important findings, which are justified by the computed better results compared with classical local stereovision matching methods without learning and with other learning strategies. The method is illustrated with 47 pairs of stereo images.
Similar content being viewed by others
References
Lee SH, Leou JJ. A dynamic programming approach to line segment matching in stereo vision. Pattern Recognition 1994; 27: 961–986
Marr D, Poggio T. A computational theory of human stereovision. Proc Roy Soc Lond B 1979; 207: 301–328
Medioni G, Nevatia R. Segment based stereo matching. Computer Vision, Graphics and Image Processing 1985; 31: 2–18
Pollard SB, Mayhew JEW, Frisby JP. PMF: A stereo correspondence algorithm using a disparity gradient limit. Perception 1981; 14: 449–470
Kohonen T. Self-Organization and Associative Memory, Springer-Verlag, New York, 1989
Kohonen T. Self-Organizing Maps, Springer-Verlag, Berlin, 1995
Patterson DW. Artificial Neural Networks Prentice-Hall, Singapore, 1996
Wu JK. Neural Networks and Simulation Methods, Marcel Dekker, New York, 1994
Cruz JM, Pajares G, Aranda J. A neural network approach to the stereovision correspondence problem by unsupervised learning. Neural Networks 1995; 8(5): 805–813
Pajares G. Estrategia de Solucion al Problema de la Correspondencia en Vision Estereoscópica por la Jerarquía Metodológica y la Integración de Criterios. PhD thesis Dpto. Informática y Automática, Facultad Ciencias UNED: Madrid, 1995
Pajares G, Cruz JM, Aranda J. Stereo matching based on the self-organizing feature mapping algorithm. Pattern Recognition Letters 1998 (accepted)
Pajares G, Cruz JM, Aranda J. Relaxation by Hopfield network in stereo image matching. Pattern Recognition 1998; 31(5): 561–574
Dhond AR, Aggarwal JK. Structure from stereo — a review. IEEE Trans Syst Man Cybern 1989; 19: 1489–1510
Ozanian T. Approaches for stereo matching — a review. Modeling Identification Control 1995; 16(2): 65–94
Fua P. A parallel algorithm that produces dense depth maps and preserves image features. Machine Vision and Applic 1993; 6: 35–49
Kim YC, Aggarwal JK. Positioning three-dimensional objects using stereo images. IEEE J Robotics and Automation 1987; 3(4): 361–373
Mousavi MS, Schalkoff RJ. ANN Implementation of stereo vision using a multi-layer feedback architecture. IEEE Trans Sys Man Cybern 1994; 24(8): 1220–1238
Ayache N, Faverjon B. Efficient registration of stereo images by matching graph descriptions of edge segments. Int J Computer Vision 1987; 1: 107–131
Ayache N. Artificial Vision for Mobile Robots: Stereo Vision and Multisensory Perception, MIT Press, Cambridge, MA, 1991
Kim DH, Choi WY, Park RH. Stereo matching technique based on the theory of possibility. Patt Recognition Letters 1994; 13: 735–744
Hoff W, Ahuja N. Surface from stereo: integrating feature matching, disparity estimation, and contour detection. IEEE Trans Patt Anal Machine Intell 1989; 11: 121–136
Wuescher DM, Boyer KL. Robust contour decomposition using a constraint curvature criterion. IEEE Trans Patt Anal Machine Intell 1991; 13(1): 41–51
Breuel TM. Finding lines under bounded error. Pattern Recognition 1996; 29 (1): 167–178
Zhou Y, Chellapa R. Artificial Neural Networks for Computer Vision, Springer-Verlag, Berlin, 1992
Yu SS, Tsai WH. Relaxation by the Hopfield neural network. Pattern Recognition 1992; 25(2): 197–209
Ruichek Y, Postaire JG. A neural matching algorithm for 3-D reconstruction from stereo pairs of linear images. Pattern Recognition Letters 1996; 17: 387–398
Lew MS, Huang TS, Wong K. Learning and feature selection in stereo matching. IEEE Trans Patt Anal Machine Intell 1994; 16(9): 869–881
Huertas A, Medioni G. Detection of intensity changes with subpixel accuracy using Laplacian-Gaussian masks. IEEE Trans Patt Anal Machine Intell 1986; 8(5): 651–664
Leu JG, Yau HL. Detecting the dislocations in metal crystals from microscopic images. Pattern Recognition 1991; 24(1): 41–56
Krotkov EP. Active Computer Vision by Cooperative focus and Stereo, Springer-Verlag, Berlin, 1989
Kahn P, Kitchen L, Riseman EM. A fast line finder for vision-guided robot navigation. IEEE Trans Patt Anal Machine Intell 1990; 12(11): 1098–1102
Maravall D. Reconocimiento de Formas y Visión Artificial, RAMA, Madrid, 1993
Tanaka S, Kak AC. A rule-based approach to binocular stereopsis. In: Jain RC, Jain AK (eds) Analysis and Interpretation of Range Images, Springer-Verlag, 1990
Nevatia R, Babu KR. Linear feature extraction and description. Computer Vision, Graphics and Image Process 1980; 13: 257–269
Mardia KV. Statistics of Directional Data, Academic Press, London, 1972
Duda RO, Hart PE. Pattern Classification and Scene Analysis. Wiley, New York, 1973
Kosko B. Neural Networks and Fuzzy Systems, Prentice-Hall, Englewood Cliffs, NJ, 1992
Martin-Smith P, Pelayo FJ, Diaz A, Ortega J, Prieto A. A learning algorithm to obtain self-organizing maps using fixed neighbourhood Kohonen networks. In: Mira J, Cabestany J, Prieto A (eds), New Trends in Neural Computation, Springer-Verlag, 1993, 297–304
Haykin S. Neural Networks: A Comprehensive Foundation, Macmillan. New York, 1994
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Pajares, G., de la Cruz, J.M. & López-Orozco, J.A. Improving stereovision matching through supervised learning. Pattern Analysis & Applic 1, 105–120 (1998). https://doi.org/10.1007/BF01237939
Received:
Revised:
Accepted:
Issue Date:
DOI: https://doi.org/10.1007/BF01237939