3D Photos - Middlebury's bicycle

This is to illustrate the use of Depth Map Automatic Generator 9b (DMAG9b) (implementation of Jon Barron's Fast Bilateral Solver) to improve the quality of a given depth map (obtained by whatever means).

Left image of Bicycle2 stereo pair. This is the quarter version of the full size image.

Right image of Bicycle2 stereo pair.

Here, we are gonna use Depth Map Automatic Generator 2 (DMAG2) to get an initial depth map.

Depth map obtained by DMAG2 using radius = 5.

Note that this is a rather small radius. Now, we want DMAG9b to improve that depth map.

Depth map obtained by DMAG9b using 4 for the spatial bandwidth, 16 for the color bandwidth, and 0.5 for lambda.

Depth map obtained by DMAG9b using 8 for the spatial bandwidth, 16 for the color bandwidth, and 0.5 for lambda.

Depth map obtained by DMAG9b using 16 for the spatial bandwidth, 16 for the color bandwidth, and 0.5 for lambda.

Depth map obtained by DMAG9b using 8 for the spatial bandwidth, 16 for the color bandwidth, and 5.0 for lambda.

Depth map obtained by DMAG9b using 8 for the spatial bandwidth, 16 for the color bandwidth, and 50.0 for lambda.

Well, you get the idea. You can also play with the color bandwidth aka the range (color) sample rate. Note that the spatial bandwidth is also known as the spatial sample rate. DMAG9b can drastically improve the depth map quality, especially at object boundaries.

Of course, one could also have used Depth Map Automatic Generator 7 (DMAG7) (implementation of Jon Barron's Fast Bilateral Space Stereo) right from the start.

Depth map obtained by DMAG7 using 16 for the spatial sample rate, 16 for the color sample rate, 2 for the radius, and 0.1 for lambda.

Again, note the low radius used.

Depth map obtained by DMAG7 using 16 for the spatial sample rate, 16 for the color sample rate, 2 for the radius, and 0.01 for lambda.

You can check how this stacks up against competing automatic depth map generators at Middlebury Stereo Evaluation - Version 3.