[Parallax: Compute for difference between two images]

Github Code

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• Test Pair

  Image 1	Image 2

1. Dependencies

• OpenCV 3.2.0, OpenCV Contrib 3.2.0, C++ 11 version

2. Methodology to apply feature matching

• [BASIC] Use this Github Page Feature Matching
• [ADD] Optical Flow Method

3. Build and Run

Clone the repository and build and run simultaneously:

   $ cd ${workspace}
   $ git clone https://github.com/SungJaeShin/Parallax.git
   $ cd Parallax
   $ sh compile_parallax_code.sh

4. Results (EuRoC dataset)

• [BEST CASE] Best Results btw “cand_1_3” and “cand_1_25”

    ["cand_1_3" and "cand_1_25"]
    max dx: 12.2113, max dy: 108.67, max dist: 109.316
    avg dx: 11.7414, avg dy: 106.379, avg_dist: 107.026
  
    before filtering correspondence pair: 41
    optical flow corresponedence pair: 37
    after filtering correspondence pair: 13
        
    ["cand_1_25" and "cand_1_3"]
    max dx: 12.2113, max dy: 102.987, max dist: 103.708
    avg dx: 10.9453, avg dy: 100.462, avg_dist: 101.058
        
    before filtering correspondence pair: 32
    optical flow corresponedence pair: 17
    after filtering correspondence pair: 14
  

  • Results “cand_1_3” and “cand_1_25” using SIFT + DAISY

    

  • Results “cand_1_25” and “cand_1_3” using SIFT + DAISY

    

• [SIFT & SURF CASE] Parallax Results btw “cand_1_3” and “cand_1_35”

    [Before Filtering]
    max dx: 53.6179, max dy: 27.4187, max dist: 305.486
    avg dx: 16.4145, avg dy: 10.3494, avg dist: 27.3653
        
    [After Filtering]
    max dx: 24.8738, max dy: 20.0451, max dist: 24.9846
    avg dx: 15.0051, avg dy: 16.2881, avg_dist: 22.3998
        
    before filtering correspondence pair: 69
    optical flow corresponedence pair: 69
    after filtering correspondence pair: 63
  

  • Original Method using Feature Matching

    

  • Filtered using optical flow method

    

  • Filtered using parallax method

    

  • Failure case using parallax method

    

• [ORB & SURF CASE] Parallax Results btw “cand_1_3” and “cand_1_35”

    [Before Filtering]
    max dx: 54.5472, max dy: 336.038, max dist: 340.437
    avg dx: 15.6673, avg dy: 18.3601, avg dist: 24.8476
        
    [After Filtering]
    max dx: 18.72, max dy: 21, max dist: 25.2389
    avg dx: 14.2445, avg dy: 17.2931, avg_dist: 22.4969
  
    before filtering correspondence pair: 215
    optical flow corresponedence pair: 211
    after filtering correspondence pair: 203
  

  • Original Method using Feature Matching

    

  • Filtered using optical flow method

    

  • Filtered using parallax method

    

• [Solve Failure CASE] Using DAISY btw “cand_1_3” and “cand_1_35”

    [GFTT + SURF CASE]
    max dx: 0, max dy: 0, max dist: 0
    avg dx: -nan, avg dy: -nan, avg_dist: -nan
  
    before filtering correspondence pair: 11
    optical flow corresponedence pair: 11
    after filtering correspondence pair: 11
  
    [GFTT + DAISY CASE]
    max dx: 20, max dy: 21, max dist: 25.807
    avg dx: 14.7667, avg dy: 16.1333, avg_dist: 21.9977
  
    before filtering correspondence pair: 36
    optical flow corresponedence pair: 36
    after filtering correspondence pair: 34
  

  • [GFTT + SURF CASE] Final Results

    

  • [GFTT + DAISY CASE] Final Results