Robust Tracking and Stereo Matching Under Variable Illumination

Abstract

Illumination inconsistencies cause serious problems for classical computer vision applications such as tracking and stereo matching. We present a new approach to model illumination variations using an Illumination Ratio Map (IRM). An IRM computes the intensity ratio of corresponding points in an image pair. We formulate IRM recovery as a Markov network, which assumes spatially varying illumination changes can be modeled as a locally smooth function with boundaries. We show that the IRM Markov network can be easily incorporated into low-level vision problems, such as tracking and stereo matching, by integrating IRM estimation with the optical flow field/disparity map solution process. This leads to a unified Markov network. We develop an iterative optimization algorithm based on Belief Propagation to efficiently recover the illumination ratio map and the optical field/disparity map at the same time. Experiments demonstrate that our methods are robust and reliable.