一提到視覺算法的步驟，不得不提《A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms》這篇文章。
因爲目前大多數提到這個步驟，都是引用了這邊文章，因爲是這篇文章首次提出了立體視覺的四個步驟。而且《Stereo Vision:Algorithms and Applications》也是按照這四個步驟作爲邏輯路線進行講解。因此，作爲初學者，按照這個思路學習，應該是個不錯的選擇。
本文的目的是，對《Stereo Vision:Algorithms and Applications》這篇文章進行概括和總結，擬出一條線路，以免後期迷失在茫茫文獻中。
大多數的立體視覺分爲四步
- Pre-processing（預處理）
有時通過預處理策略來補償測量的損失，參考文獻包括：
採用高斯拉普拉斯濾波
41. T. Kanade, H. Kato, S. Kimura, A. Yoshida, and K. Oda, Development of a Video-Rate Stereo Machine International Robotics and Systems Conference (IROS '95), Human Robot Interaction and Cooperative Robots, 1995
在像素附近減少平均值計算
[42] O. Faugeras, B. Hotz, H. Mathieu, T. Viville, Z. Zhang, P. Fua, E. Thron, L. Moll, G. Berry, Real-time correlation-based stereo: Algorithm. Implementation and Applications, INRIA TR n. 2013, 1993
雙邊濾波
[16] A. Ansar, A. Castano, L. Matthies, Enhanced real-time stereo using bilateral filtering IEEE Conference on Computer Vision and Pattern Recognition 2004
- Matching cost computation（匹配代價計算）
這一步的意義是：衡量待匹配像素與候選像素的相關性，儘量減小代價，因爲代價越小，相關性越大。
不相關性測量
- S. Birchfield and C. Tomasi. A pixel dissimilarity measure that is insensitive to image sampling.IEEE Transactions on Pattern Analysis and Machine Intelligence, 20(4):401-406, April 1998
歸一化互相關
- S. Mattoccia, F. Tombari, L. Di Stefano, Fast full-search equivalent template matching by Enhanced Bounded Correlation, IEEE Transactions on Image Processing, 17(4), pp 528-538, April 2008
零平均歸一化互相關
[58] L. Di Stefano, S. Mattoccia, F. Tombari, ZNCC-based template matching using Bounded Partial Correlation Pattern Recognition Letters, 16(14), pp 2129-2134, October 2005
中值濾波
[59] F. Tombari, L. Di Stefano, S. Mattoccia, A. Galanti, Performance evaluation of robust matching measures 3rd International Conference on Computer Vision Theory and Applications (VISAPP 2008)
非參數
[60] R. Zabih, J John Woodll Non-parametric Local Transforms for Computing Visual Correspondence, ECCV 1994
[61]D. N. Bhat, S. K. Nayar, Ordinal measures for visual correspondence, CVPR 1996
相互信息
[30] H. Hirschmüller. Stereo vision in structured environments by consistent semi-global matching. CVPR 2006, PAMI 30(2):328-341, 2008