International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXIX-B3, 2012 
XXII ISPRS Congress, 25 August - 01 September 2012, Melbourne, Australia 
  
   
--- plc ——p2b «9 p2b cp2v 
150% i 
(a) CT, AUGN (b) CT, Salt-and-Pepper 
50096 -— 15.0% 
  
450% i 14.0% 
i 1306 - 
400% © 
35096 : 1106 3s 
  
300% 10.0% 
(e) RT, AWGN (f) RT, Salt-and-Pepper 
0 10 20 30 4 0 © 7 8 % 100 0 10 20 30 40 SO 60 70 8 90 100 
0 10 20 30 4 0 © 7 8 % 100 0 10 20 30 4) 9 D D D D 100 
  
   
0 10 20 30 40 SO 60 70 8 90 100 0 310 20 30 40 50 & 70 80 90 10 
(c) CT, Shadowed (d) CT, Gamma 
  
  
0 10 20 30 40 SO 60 70 8 90 10 0 10 20 30 40 SO 60 70 80 90 100 
(g) RT, Shadowed (h) RT, Gamma 
Figure 7: Errors in unoccluded areas for all penalty functions on degenerated input images employing census and rank transform. 
     
     
   
  
   
k 
   
   
L 
  
(k) P»;, Baseline 
(a) Ground Truth (b) AWGN (c) Salt-and-Pepper (d) Shadowed (e) Gamma 
(f) P», Baseline (g) P1, AWGN (h) P», Salt-and-Pepper 
(1) Pj, AWGN (m) P»;, Salt-and-Pepper 
  
    
  
   
(i) P51, Shadowed () P51, Gamma 
     
    
(n) P»;, Shadowed (0) P»;, Gamma 
Figure 8: Degenerated input images (row one) and corresponding disparity maps obtained with P»; (row two) and P»; (row three) using 
the census transform. 
REFERENCES 
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Banz, C., Hesselbarth, S., Flatt, H., Blume, H. and Pirsch, P, 
2011b. Real-time stereo vision system using semi-global match- 
ing disparity estimation: Architecture and fpga-implementation. 
Transactions on High-Performance Embedded Architectures and 
Compilers, Springer. 
Ess, A., Leibe, B. and Van Gool, L., 2007. Depth and appearance 
for mobile scene analysis. In: IEEE Intl. Conf. Computer Vision, 
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Scharstein, D. and Szeliski, R., 2012. The Middlebury Stereo 
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Zabih, R. and Woodfill, J., 1994. Non-parametric local trans- 
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