Improving Disparity Map of A Specific Object in A Stereo Image Using Camera Calibration, Image Rectification, and Object Segmentation

The objective of the study was to improve the disparity map of a certain object
in a stereo image. The steps required to complete this are first, to perform
camera calibration in order to extract camera parameters, and then to use these
parameters to rectify the stereo image. Second, to perform segmentation to
separate the object from the background of the image. Separation of the object
from the background was performed to produce a good disparity for the object.
This had not been done in previous studies. Using segmentation, bias and error
of stereo correspondence had been reduced, since the correspondence was
focus on the intensity of the left and right objects in the stereo image. Using
rectified and segmented stereo images, better disparity maps had been
obtained.