【摘要】 立体匹配算法在双目视觉中起着重要作用。基于非参数变换的Census立体匹配算法在近几年得到了广泛的应用，但Census立体匹配算法在求视差的过程中存在一定的不足。针对Census立体匹配算法的不足，近年来出现了诸多Census立体匹配算法的改进。介绍了Census立体匹配算法计算视差的基本原理，分析Census立体匹配算法在计算视差过程中存在的局限性；重点以分类形式归纳了改进Census立体匹配算法，将近年来改进的Census立体匹配算法分为6类；对每一类改进的Census立体匹配算法的优缺点、核心思想进行归纳总结，对6类改进的Census立体匹配算法进行对比分析，并总结分析了Census立体匹配算法的应用和发展趋势。更多还原

【Abstract】 Stereo matching algorithm plays an important role in binocular vision. Census stereo matching algorithm based on nonparametric transformation has been widely used in recent years, but there are some shortcomings in the process of disparity calculation. In view of the shortcomings of census stereo matching algorithm,there have been many improvements of census stereo matching algorithm. Firstly, the basic principle of disparity calculation based on census stereo matching algorithm is introduced, and the limitation of disparity calculation based on census stereo matching algorithm is analyzed. Then,the improved census stereo matching algorithm is summarized in the form of classification, and the improved census stereo matching algorithms are divided into six categories. Finally, the advantages, disadvantages and core ideas of each kind of improved census stereo matching algorithms are summarized, and six kinds of improved census stereo matching algorithms are compared and analyzed, and the application and development trend of census stereo matching algorithms are summarized.更多还原