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Stereoscopic Depth Map Estimation and Coding Techniques for Multiview Video Systems Poznań University of Technology Faculty of Electronics and Telecommunications Chair of Multimedia Telecommunication and Microelectronics Doctoral Dissertation Stereoscopic depth map estimation and coding techniques for multiview video systems Olgierd Stankiewicz Supervisor: Prof. dr hab. inż. Marek Domański POZNAN UNIVERSITY OF TECHNOLOGY Faculty of Electronics and Telecommunications Chair of Multimedia Telecommunications and Microelectronics Pl. M. Skłodowskiej-Curie 5 60-965 Poznań www.multimedia.edu.pl This dissertation was supported by the public funds as a research project. A part of this dissertation related to depth estimation was partially supported by National Science Centre, Poland, according to the decision DEC-2012/07/N/ST6/02267. A part of this dissertation related to depth coding was partially supported by National Science Centre, Poland, according to the decision DEC-2012/05/B/ST7/01279. This dissertation has been partially co-financed by European Union funds as a part of European Social Funds. Copyright © Olgierd Stankiewicz, 2013 All rights reserved Online edition 1, 2015 ISBN 978-83-942477-0-6 This dissertation is dedicated to my beloved parents: Zdzisława and Jerzy, who gave me wonderful childhood and all opportunities for development and fulfillment in life. I would like to thank all important people in my life, who have always been in the right place and supported me in difficult moments, especially during realization of this work. I would like to express special thanks and appreciation to professor Marek Domański, for his time, help and ideas that have guided me towards completing this dissertation. Rozprawa ta dedykowana jest moim ukochanym rodzicom: Zdzisławie i Jerzemu, którzy dali mi cudowne dzieciństwo oraz wszelkie możliwości rozwoju i spełnienia życiowego. Chciałbym podziękować wszystkim ważnym osobom w moim życiu, które zawsze były we właściwym miejscu i wspierały mnie w trudnych chwilach, w szczególności podczas realizacji niniejszej pracy. Chciałbym również wyrazić szczególne podziękowania oraz wyrazy wdzięczności panu profesorowi Markowi Domańskiemu, za jego czas, pomoc oraz pomysły, które doprowadziły mnie do ukończenia tej rozprawy. Olgierd Stankiewicz “Stereoscopic depth map estimation and coding techniques for multiview video systems” Table of contents Abstract ............................................................................................................................ 3 List of terms, symbols and abbreviations ........................................................................... 7 Chapter 1. Introduction ..................................................................................................... 9 1.1. The scope of the dissertation .......................................................................................... 9 1.2. The goals and the theses of the dissertation ................................................................. 14 1.3. The overview of the dissertation ................................................................................... 15 1.4. The methodology of work .............................................................................................. 16 1.5. Multiview video test sequences .................................................................................... 17 1.5.1. Production of the test material at Poznan University of Technology ................................. 18 1.5.2. Test sequences used in the dissertation ............................................................................. 22 1.5.3. Assessment of the quality of depth maps ........................................................................... 25 Chapter 2. State of the art in depth map estimation ........................................................ 27 2.1. Depth estimation fundamentals .................................................................................... 27 2.2. Local estimation methods .............................................................................................. 31 2.3. Global optimization methods ........................................................................................ 35 2.3.1. Data Cost function ............................................................................................................... 36 2.3.2. Transition Cost function ...................................................................................................... 37 2.3.3. Graph Cuts ........................................................................................................................... 39 2.3.4. Belief Propagation ............................................................................................................... 41 2.5. Accuracy and precision of disparity values .................................................................... 42 2.6. Temporal consistency of the depth ............................................................................... 45 Chapter 3. Proposed methods for depth map estimation ................................................. 47 3.1. Proposed Data Cost derivation based on MAP ............................................................. 47 3.2. Simplification of Data Cost to classical SSD and SAD similarity metrics ........................ 51 3.3. Verification of the assumptions ..................................................................................... 55 3.3.1. Noise extraction technique used for the analysis ............................................................... 56 3.3.2. Independence of the noise in the subsequent frames ....................................................... 59 3.3.3. Probability distributions of the noise .................................................................................. 65 3.3.4. Chi-square test for Gaussian probability distribution of the noise ..................................... 70 3.3.5. Uniformity of probability distributions of luminance value ................................................ 72 3.3.6. Uniformity of probability distributions of disparity value ................................................... 74 3.3.7. Lambertian model of reflectance and color profile compatibility among the cameras ..... 76 3.4. The proposed probability model for Data Cost function .............................................. 80 3.5. The proposed probability model for Transition Cost function ...................................... 82 3.6. Experimental results for the depth estimation with the proposed FitCost model ....... 87 3.7. Depth refinement by Mid-Level Hypothesis .................................................................. 89 3.7.1. Idea of depth refinement by Mid-Level Hypothesis algorithm ........................................... 91 3.7.2. Implementation of the algorithm ........................................................................................ 93 3.7.3. Experimental results for depth refinement ........................................................................ 95 3.8. Temporal consistency improvement of the depth by noise reduction ......................... 98 3.8.1. Still Background Noise Reduction (SBNR) technique .......................................................... 99 1 of 241 Olgierd Stankiewicz “Stereoscopic depth map estimation and coding techniques for multiview video systems” 3.8.2. Motion-Compensated Noise Reduction with Refinement (MCNRR) technique .............. 103 3.8.3. Experimental results for temporal consistency improvement ......................................... 107 3.9. Summary of the achievements in the area of depth estimation ................................ 112 Chapter 4. State-of-the-art in depth map coding ............................................................ 115 4.1. Coding tools that involve depth .................................................................................. 115 4.2. State-of-the-art directly related to the proposals in the dissertation ........................ 117 Chapter 5. Proposed non-linear depth representation for coding ................................... 119 5.1. The idea of non-linear depth representation .............................................................. 119 5.2. Proof of concept proposal for non-linear transformation .......................................... 122 5.3. A theoretical approach to selection of non-linear transformation ............................. 125 5.4. Approximation of non-linear depth transformation ................................................... 126 5.5. Experimental results for depth map coding ................................................................ 128 5.6. Adoption of non-linear transformation in international coding standards ................ 131 5.7. Summary of achievements in the area of depth coding ............................................. 135 Chapter 6. A new 3D video coding technology ................................................................ 137 6.1. Comparison with other state-of-the-art codecs .......................................................... 138 6.2. The structure of the proposed 3D video codec ........................................................... 141 6.3. Author’s contribution in the proposal of the new 3D video codec ............................. 143 6.3.1. Layer separation ............................................................................................................... 143 6.3.2. Unified Depth Representation .........................................................................................
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