LIBELAS - C++ Library for Efficient Large-Scale Stereo Matching

LIBELAS: Library for Efficient LArge-scale Stereo Matching

Author: Andreas Geiger
Institute of Measurement and Control Systems
Karlsruhe Institute of Technology

Please send any feedback or bugreports to: geiger@kit.edu

Introduction

LIBELAS (Library for Efficient Large-scale Stereo Matching) is a cross-platfrom (Linux, Windows) C++ library with MATLAB wrappers for computing disparity maps from rectified graylevel stereo pairs. It is robust against moderate changes in illumination and well suited for robotics applications with high resolution images. Computing the left and right disparity map of a one Megapixel image requires less than one second on a single i7 CPU core. More details can be found in our related publications.

Changelog

19.09.2011: Fixed the shifting bug of adaptive smoothing, a small bug when finding support points as well as a couple of memory leaks: Thanks to Simon Hermann, Markus Moll and Wojciech Chojnowski for reporting those issues.
26.05.2011: Fixed a flipped parameter bug in the Matlab demo code, thanks to Diego Cheda for reporting
24.01.2011: New version uploaded! New features: SSE instructions used for computing descriptor (faster), better approximation to bilateral filtering for postprocessing, bytes-per-line parameter for input images. Further, a new parameter 'subsampling' allows for evaluating only every second pixel, which is often sufficient in robotics applications, since depth accuracy matters more than a large image domain. Using this option, we run ELAS at 8-10 fps on the 0.6 Megapixels Karlsruhe data set using a single i7 3Ghz core.
12.11.2010: Minor changes for running on Mac, thanks to Tobias Feldmann
11.11.2010: Fixed a bug in Elas::createGrid, thanks to Samuele Salti for reporting
03.10.2010: Added support for minimum disparity parameter (must be >=0)
20.09.2010: First version online

Prerequisites

We tried to keep dependencies as small as possible, but to start with libviso you are going to need at least:

CMAKE (if you want to compile a c++ library)
MATLAB (if you want to use the MATLAB wrappers)

Downloads

LIBELAS for Linux/Mac/Windows (including test images)
Bob Mottram has developed a stereo tool using video4linux, LIBELAS and a 50$ consumer stereo web camera (Minoru 3D). More information can be found at his project page and in his blog.

Datasets

Datasets from the videos / paper / presentation

Using this Code as part of your Software

This code is published under the GNU General Public License. If you distribute a software that uses libelas, you have to distribute it under GPL with the source code. Another option is to contact us to purchase a commercial license.

If you find this software useful or if you use this software for your research, we would be happy if you cite the following related publication:

LATEX BIBTEX CITATION ENTRY:
@INPROCEEDINGS{Geiger10,
author = {Andreas Geiger and Martin Roser and Raquel Urtasun},
title = {Efficient Large-Scale Stereo Matching},
booktitle = {Asian Conference on Computer Vision},
year = {2010},
month = {November},
address = {Queenstown, New Zealand}
}

Disclaimer

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Please send any feedback or bugreports to: geiger@kit.edu