A regularization model for stereo vision with controlled continuity

The problem of the computation of stereo disparity is approached as a mathematically ill-posed problem by using regularization theory. A controlled continuity constrant which provides a local spatial control over the smoothness of the solution enables the problem to be regularized while preserving the disparity discontinuities. The discontinuities are localized during the regularization process by examining the size of the disparity gradient at the gray value edges. An iterative algorithm for the computation of stereo disparity is obtained, and a computer experiment with synthetic data is shown.