mfkiwl / stereo_depth_estimator

Stereo depth estimation for self-driving cars 🚗

Stereo Depth Estimator

SGBM

Semi-global block matching - SGBM, by Hirschmuller, H. (2008). Stereo processing by semiglobal matching and mutual information. IEEE Transactions on pattern analysis and machine intelligence, 30(2), 328-341.

Usage

python3 stereo_depth_estimator_sgbm.py

Required directory structure:

.
├── ...
├── data                     
│    ├── 1 (can be modified with DATASET constant)
│        │──left (n left images)
│        │──right (n right images)
│        │──disparities (initially empty)
│        │──combined (initially empty)

Results

Dataset 1

Dataset 2

Dataset 3

Author

Greg (Grzegorz) Surma

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