Multi-soft-constraint stereo matching method based on cost matrix

Abstract

The invention discloses a multi-soft-constraint stereo matching method based on a cost matrix. The method comprises the following steps: calculating a three-dimensional matching cost matrix at first, then carrying out multiple-dimension downsampling, and forming a cost matrix pyramid; carrying out the corresponding multiple-dimension downsampling of an image, forming an image pyramid, and carrying out segmentation of all image layers; carrying out cost accumulation of self-adaption weight layer by layer and cost accumulation under the voting-type segmentation constraint secondly, and achieving the cost accumulation under the multiple-dimension constraint through transmitting the cost accumulation results of the upper layer to the lower cost matrix; and achieving stereo matching through combining a reliable point cost diffusion method in a bottom layer cost matrix. The method improves the stability and reliability of matching results, solves the matching problems of weak texture and repeated texture regions and parallax error discontinuous places, and can be used for improving modeling, related to the engineering application of stereo matching, based on images.

Description

technical field [0001] The invention belongs to the technical field of computational vision and photogrammetry, and relates to a stereo matching method based on a cost matrix, in particular to a stereo matching method based on a cost matrix with multiple soft constraints. Background technique [0002] Stereo matching is a fundamental and key problem in the fields of computational vision and photogrammetry. The concept of stereo matching was first proposed in the field of photogrammetry to solve the problem of automatic mapping of digital aerial photogrammetry. Stereo matching is also a key issue in the field of computer vision, affecting modeling of the human visual system, robot navigation and manipulation, 3D model building, and mixing real-world actions with computer-generated images. [0003] Stereo matching is a pathological problem, especially for the lack of texture and repeated texture regions, and the mismatching problems of discontinuous disparity have been diffic...

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Problems solved by technology

[0005] The present invention mainly solves the problem of excessive dependence on the priori condition constraints existing in the prior art; it provides a multiple soft constraint cost accumulation method based on the cost matrix that can simultaneously incorporate multiple priori constraints to complete stereo matching, It can effectively solve the problem of lack of texture and repeated texture areas and the mismatch of edges

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