Abstract：Aiming at the problems of the noise and illumination sensitive and with high false matching radio in the weak texture region of the local matching algorithm, an robust stereo matching algorithm for improved Census transform and adaptive parameter-guided filter is proposed. The hue, saturation, value(HSV) channel value is used to calculate the cost, which has higher robustness to noise and illumination changes. In the support window, the distance weighting and color weighting are used to obtain the reference value of the census transform respectively. The two costs are fused to improve the stability of the single pixel matching cost. The kurtosis adaptive regularization parameter is used on the guide filter for cost aggregation. Finally, the disparity map is obtained by disparity calculation. The matching experiment is carried out on the image pairs provided by Middlebury database on the VS2017. The average error matching rate of the proposed algorithm of standard image, noisy image and illumination change image is 7.80%, 10.72% and 9.89% respectively. The results show that the algorithm can reduce the false matching ratio and better adapt to the changes of noise and illumination.
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2023, Vol. 44 
