Detecting binocular half-occlusions: empirical comparisons of four approaches

Binocular half-occlusion points are those that are visible in one of the two views provided by a binocular imaging system. Due to their importance in binocular matching as well as subsequent interpretation tasks, a number of approaches have been developed for dealing with such points. In the current paper, we consider four methods that explicitly detect half-occlusions and report on a more uniform comparison than has previously been performed. Taking a disparity image and its associated match goodness image as input, we generate images that show the half-occluded points in the underlying scene. We quantitatively and qualitatively compare these methods under a variety of conditions.