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Depth estimation based on binocular disparity and color-coded aperture fusion

In this paper we present a novel binocular passive depth sensor with minor hardware modifications on color-coded aperture. It is based on binocular disparity and color-coded aperture depth from defocus fusion algorithm. The sensor measure depth in detail on occlusion and blur condition in contrast to prior-art approaches. Contributions of this paper are: (1) introduction of color-coded aperture binocular designs, (2) corresponding fusion algorithm. The red and green optical filters are placed in the front of iris of the left and right cameras respectively. In order to correct the fuzzy kernel, we use the red channel of the left image and the green channel of the right image as the reference to perform stereo matching of binocular disparity under the same blurs level. Furthermore, we introduce a method fusion binocular stereo matching and color-coded aperture depth from defocus cost function. The proposed methods are experiment under occlusion and blur condition. The results show that the matching accuracy is improved 20%. And the proposed algorithm is outperformance under mismatch and occlusion condition in binocular stereo matching.