The equations refer to calculations made on a pair of monochromatic images taken with the use of two cameras from the set of five cameras presented in Fig. 1. Equations are valid for pairs of images which consist of an image from the central camera and an image from the side camera . The central image is the reference one, i.e., points of a depth map corresponds to points of this image. Matching cost functions compare parts of images specified by an aggregating window . Display Formula
(8)where is the location of a point, is the disparity, is the function that returns the intensity of a point in a monochromatic image, is the aggregating window, and is the average value of points included in the aggregating window located with regard to the disparity .