Stereo matching method and apparatus

A stereo matching apparatus comprising:

• one or more processors configured to
• generate an initial disparity map by transforming a previous disparity map of a previous frame based on determined motion information of a camera between the previous frame and a current frame,
• calculate a confidence for the initial disparity map, and
• adjust a current disparity map corresponding to the current frame based on the calculated confidence and the initial disparity map,
• wherein, to adjust the current disparity map, the one or more processors are configured to adjust a cost volume corresponding to the current frame based on the calculated confidence;
• and adjust the current disparity map corresponding to the current frame by performing a cost aggregation with respect to the current frame based on the adjusted cost volume,
• wherein, to adjust the cost volume, the one or more processors are configured to adjust the cost volume corresponding to the current frame based on the calculated confidence, the initial disparity map, and the current disparity map corresponding to the current frame.

A processor implemented stereo matching method, the method comprising:

• generating a cost volume corresponding to a current frame of a stereo camera;
• calculating a confidence with respect to disparities corresponding to a previous frame of the stereo camera;
• generating a current disparity mapping corresponding to the current frame by performing a cost aggregation with respect to the current frame dependent on the generated cost volume and the calculated confidence;
• and
• determining a distance to an object in an image for the current frame using the current disparity mapping corresponding to the current frame, wherein the calculating of the confidence with respect to the disparities corresponding to the previous frame further comprises calculating the confidence with respect to the disparities corresponding to the previous frame based on consideration of any one or any two or more of respective confidences calculated with respect to a previous disparity mapping corresponding to the previous frame, determined motion information of the stereo camera, and a determination of whether one or more dynamic objects change between the previous frame and the current frame.