Stereo Matching for Binocular Citrus Images Using Surf Operator and Epipolar Constraint

we presented an application of SURF operator and epipolar constraint for stereo matching of binocular citrus images. First, R-B space images were achieved by linear transform of original images' color space. Second, fast Hessian-matrix detector was used to detect the interest points and the SURF descriptor was used to describe the points' features. Finally, Euclidean distance and the epipolar constraint were used for features matching. Experiment shows that the average execution time of the over-all algorithms (including the feature extraction and the feature matching) is 293ms.The method can detect and match interest points accurately without the influence of fruits' occlusions. Once stereo matching work has done successfully, the following computation of depth information of the fruits may be applied.