Mahalanobis Distance Cross-Correlation for Illumination-Invariant Stereo Matching

Abstract

A robust similarity measure called the Mahalanobis distance cross-correlation (MDCC) is proposed for illumination-invariant stereo matching, which uses a local color distribution within support windows. It is shown that the Mahalanobis distance between the color itself and the average color is preserved under affine transformation. The MDCC converts pixels within each support window into the Mahalanobis distance transform (MDT) space. The similarity between MDT pairs is then computed using the cross-correlation with an asymmetric weight function based on the Mahalanobis distance. The MDCC considers correlation on cross-color channels, thus providing robustness to affine illumination variation. Experimental results show that the MDCC outperforms state-of-the-art similarity measures in terms of stereo matching for image pairs taken under different illumination conditions.