Selective Segmentation for Global Optimization of Depth Estimation in Complex Scenes

Algorithm 1

Constructing procedure of segmentation term.

Input: segment S, constant Φ, ratio μ

Initialize c→ c = 0

Do

 If (𝑓(𝑝)−𝑑^∗(𝑝)>Φ)

    𝑐→𝑐=𝑐+1

 end If

While 𝑝∈𝑆

𝑁_𝑑(𝑓(𝑝_𝑆))→𝑁_𝑑(𝑓(𝑝_𝑆))=𝑐

If (𝑁_𝑑(𝑓(𝑝_𝑆))>𝑁(𝑆)^∗𝜇)

 Reject Constructing Segmentation Term

Else

 Constructing Segmentation Term using the Robust 𝑃^𝑛 Potts Model.