Abstract

Consumer devices with stereo cameras have becomepopular because of their low-cost depth sensing capability.However, those systems usually suffer from low imagingquality and inaccurate depth acquisition under low-light conditions. To address the problem, we present a newstereo matching method with a color and monochromecamera pair. We focus on the fundamental trade-off thatmonochrome cameras have much better light-efficiencythan color-filtered cameras. Our key ideas involve com-pensating for the radiometric difference between two cross-spectral images and taking full advantage of complementary data. Consequently, our method produces both anaccurate depth map and high-quality images, which areapplicable for various depth-aware image processing. Ourmethod is evaluated using various datasets and the per-formance of our depth estimation consistently outperformsstate-of-the-art methods.