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Binocular vision stereo matching method

A technology of stereo matching and binocular vision, which is applied in image data processing, instruments, calculations, etc., can solve the problems of low matching accuracy, slow computing speed, poor imaging quality of left and right view radiation changes, etc., and achieve high stereo matching accuracy, algorithm fast effect

Inactive Publication Date: 2013-12-11
BEIHANG UNIV
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Problems solved by technology

[0004] The technology of the present invention solves the problem: In order to solve the shortcomings of the existing stereo matching method, such as sensitivity to changes in illumination or exposure time of the left and right views, low matching accuracy, and slow operation speed, the present invention provides a binocular vision stereo matching method for When the left and right view radiation changes greatly and the image quality is poor, the

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Embodiment Construction

[0031] Such as figure 1 As shown, the process of the method of the present invention is to firstly perform disparity prior estimation based on the dense feature description method for the points to be matched in the view group, and then use the Hamming distance method to calculate the matching cost between the candidate matching points in the view group, Then use the cost aggregation method based on the adaptive window to obtain the cost aggregation value of the candidate matching points, and then use the disparity estimation method based on the maximum a posteriori probability model to calculate the disparity value of each pixel in the view group, and finally compare the stereo matching results Perform refinement.

[0032] figure 2 with image 3 Left view and right view in view group 1 respectively figure 1 , the two views were taken under the same conditions. Figure 4 is the right view in viewgroup 1 figure 2 , this view is the same as the right view figure 1 In com...

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Abstract

Provided is a binocular vision stereo matching method. Parallax error prior estimation based on a dense characteristic description method is carried out on points to be matched in a view group at first, matching cost of candidate matching points in the view group is calculated by means of a hamming distance method, then cost gathering values of the candidate matching points are solved through a cost gathering method based on self-adaptive windows, parallax error values of pixel points in the view group are calculated by using a parallax error estimation method based on a maximum posterior probability model, and precision processing is carried out on stereo matching results at last. According to the binocular vision stereo matching method, influences on stereo matching due to different illuminations of a left view and a right view or different exposure time periods can be effectively restrained, higher stereo matching precision is obtained, and an algorithm is quick, stable and reliable.

Description

Technical field [0001] The invention relates to a binocular vision digital image processing method, in particular to a binocular vision stereo matching method. Background technique [0002] Stereo matching is the main technical means to obtain 3D object information from 2D image information. In many binocular vision applications such as 3D scene reconstruction, automatic driving, and virtual reality, stereo matching has always been a very challenging core issue. Stereo matching generally assumes that matching pixels have similar brightness or color information, and performs disparity estimation based on this information. However, in practical application scenarios, this assumption does not hold due to radiation changes in the left and right views. Illumination changes and camera exposure time changes are the main radiation change factors that affect stereo matching, and most stereo matching methods will significantly degrade their performance in the face of these changes. ...

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Application Information

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IPC IPC(8): G06T7/00G06T5/00
Inventor 屈玉福姜吉祥姜楠杨民
Owner BEIHANG UNIV
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