Method and device for generating disparity map from image frames captured by stereo camera

Abstract

Embodiments of the present invention provide a method and device for generating a disparity map based on image frames captured by a stereo camera. The method includes: generating an initial reference grayscale histogram and an initial reference grayscale histogram of the first image frame; generating a target reference grayscale histogram and a target grayscale histogram of a predetermined area of ​​the first reference image based on historical information of the second image frame. Reference grayscale histogram; calculate the reference mapping function from the initial reference grayscale histogram to the target reference grayscale histogram and the reference mapping function from the initial reference grayscale histogram to the target reference grayscale histogram; for the first reference image performing a reference mapping function on a predetermined region of the first image frame to obtain an enhanced reference image of the first image frame, and performing a reference mapping function on the predetermined region of the first reference image to obtain an enhanced reference image of the first image frame; and according to the enhancement of the first image frame The base image and the enhanced reference image generate a first disparity map corresponding to the first image frame.

Description

technical field [0001] The present invention relates to a method and a device for generating a disparity map, and more particularly, the present invention relates to a method and a device for generating a disparity map based on image frames captured by a stereo camera. Background technique [0002] With the development of technologies such as 3D reconstruction and virtual reality, disparity information indicating the distance between a camera and a specific object captured has been widely used in applications such as assisted driving. By performing image matching on the reference image and the reference image captured by the stereo camera on the same scene, the matching pixel point pair can be found in the reference image and the reference image, and the disparity corresponding to each pixel point coordinate can be calculated. Furthermore, the disparity can be used to accurately describe the three-dimensional space information of the scene. Contents of the invention [00...

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Problems solved by technology

[0003] The purpose of the embodiments of the present invention is to provide a method and device for generating a disparity map based on image frames captured by a stereo camera. The method and device use the enhanced histogram of the historical frame to weight and generate the target histogram to solve the above-mentioned over-enhancement problem. question

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