Symmetric trinocular dense disparity estimation for car surrounding camera array

This paper presented a novel dense disparity estimation method which is called as symmetric trinocular dense disparity estimation. Also a car surrounding camera array application is proposed to improve the driving safety by the proposed symmetric trinocular dense disparity estimation algorithm. The symmetric trinocular property is conducted to show the benefit of doing disparity estimation with three cameras. A 1D fast search algorithm is described to speed up the slowness of the original full search algorithms. And the 1D fast search algorithm utilizes the horizontal displacement property of the cameras to further check the correctness of the disparity vector. The experimental results show that the symmetric trinocular property improves the quality and smoothness of the disparity vector.