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Method and device for calculating pixel point parallax value applied in binocular stereo vision

A technology of binocular stereo vision and parallax value, applied in the field of computer vision, can solve the problems of inaccurate parallax value and large difference in actual parallax value of adjacent pixels, so as to achieve accurate parallax value and improve accuracy Effect

Active Publication Date: 2020-04-24
HISENSE
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Problems solved by technology

[0003] When adjacent pixels are located on the edge of two adjacent objects in the two-dimensional image, the actual parallax values ​​of adjacent pixels may differ greatly. If the existing SGM algorithm is still used to determine the pixel located on the edge of the object The disparity value of the pixel on the edge of the current object is often not accurate enough due to the influence of the disparity value of adjacent pixels on the edge of another object

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  • Method and device for calculating pixel point parallax value applied in binocular stereo vision
  • Method and device for calculating pixel point parallax value applied in binocular stereo vision
  • Method and device for calculating pixel point parallax value applied in binocular stereo vision

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[0031] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with aspects of the invention as recited in the appended claims.

[0032] The terminology used in the present invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein and in the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as use...

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Abstract

The invention provides a pixel point parallax value calculation method and device applied in binocular stereo vision. The method comprises steps as follows: acquiring a gray difference between a gray value of a first pixel point and a gray value of a second pixel point which is a previous pixel point adjacent to the first pixel point in the energy transmission direction; setting an energy attenuation coefficient which is in an inverse correlation with the gray difference if the gray difference is larger than a preset first gray threshold value; determining the energy value transmitted from the second pixel point to the first pixel point on the basis of the energy attenuation coefficient and determining the parallax value of the first pixel point on the basis of the energy value. Accordingly, when it is determined that the adjacent pixel points are located on different objects according to the difference of gray values of the adjacent pixel points, the influence of the energy value of the previous pixel point on the energy value of the current pixel point is reduced by setting the relatively small energy attenuation coefficient, and accordingly, the parallax value of the pixel point at an edge of the object is more accurate.

Description

technical field [0001] The present invention relates to the technical field of computer vision, in particular to a pixel point parallax value calculation method and device applied in binocular stereo vision. Background technique [0002] SGM (Semi-Global Matching, semi-global matching) is a semi-global matching algorithm for calculating parallax in binocular vision. The algorithm aims to improve the stability of the disparity value of the pixel to be obtained by using the interaction relationship between adjacent pixels (the disparity values ​​of adjacent pixels located on the same object are similar). [0003] When adjacent pixels are located on the edge of two adjacent objects in the two-dimensional image, the actual parallax values ​​of adjacent pixels may differ greatly. If the existing SGM algorithm is still used to determine the pixel located on the edge of the object The disparity value of the pixel on the edge of the current object is often not accurate enough due t...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/593
CPCG06T7/593
Inventor 王智慧田国会
Owner HISENSE
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