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Edge-based local stereo matching method

A stereo matching and partial technology, applied in the field of image processing, can solve the problems of foreground expansion, high complexity, poor parallax effect in discontinuous depth areas, etc., and achieve the effect of fast speed, low complexity and high precision

Active Publication Date: 2017-02-15
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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Problems solved by technology

In the local stereo matching algorithm, although the algorithm complexity of the fixed window stereo matching algorithm is low, there are problems of foreground expansion and poor parallax effect in the depth discontinuity area, while the stereo matching algorithm of adaptive window and adaptive weight greatly reduces the Mismatching in depth discontinuous areas, but the complexity is high, not suitable for occasions with high real-time requirements

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Embodiment Construction

[0019] The present invention can be divided into initial parallax calculation and stable point interpolation in two stages, such as figure 1 shown.

[0020] For the initial disparity calculation, it can be divided into the following four steps:

[0021] Based on the consistency constraints of binocular vision, the left and right disparity maps are checked for left and right consistency, that is, the parallax at the same coordinate position in the left disparity map and the right disparity map are the same, and the parallax of the occlusion point is effectively corrected to obtain the initial disparity map. .

[0022] Step 1: Input the corrected left and right images, and calculate the gradient of the left and right images.

[0023] Step 2: Use the gradient as the matching cost of the initial disparity calculation, take a fixed window for each pixel, and aggregate the matching costs in the window to obtain the aggregated cost of each pixel. In this embodiment, the absolute e...

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Abstract

The present invention provides an edge-based local stereo matching method. After an initial disparity map is obtained; grid point sampling is performed on the disparity map; unsteady grid points are deleted, and stable grid points are preserved; Canny edge points are extracted from the image; stable edge points and the stable grid points are merged into a stable point set; and interpolation is performed on the other points according to disparity corresponding to the stable points, so that an accurate dense disparity map is obtained. According to the method provided by the invention, gradient is adopted as matching cost; a fixed window cost aggregation mode is adopted to calculate the matching cost; and the initial disparity map is obtained through left and right consistency detection. The method of the invention has the advantages of low complexity, high speed and high precision, and is suitable for occasions having high requirements for real-time performance.

Description

technical field [0001] The invention relates to image processing technology, in particular to stereo matching technology. Background technique [0002] As a very important branch of computer vision, binocular stereo vision is a camera that shoots the same scene by moving or rotating the angle of view or two cameras that simulate two eyes to shoot the same object, and then use the stereo matching algorithm to find the two The disparity between the corresponding image points of the two images, and the three-dimensional coordinates of each point of the measured object in the scene are obtained by combining the parallax image and the parameters obtained by camera calibration, and then the three-dimensional structure information of the scene is reconstructed and the depth value of the corresponding point is obtained. The depth value is is the actual distance between the camera and the measured object. A complete stereo vision system generally consists of six parts: image acquisi...

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Application Information

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IPC IPC(8): G06T7/30G06T7/13
CPCG06T3/4007G06T2207/10021
Inventor 李宏亮孙文龙习自王久圣廖伟军
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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