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Image stereo matching method, binocular vision equipment

A stereo matching and binocular vision technology, applied in the field of image processing, can solve the problems of disparity map foreground expansion effect, optimization processing, low use efficiency, etc., so as to improve the foreground expansion effect, improve the search speed, and preserve the effect of edge details.

Active Publication Date: 2020-03-24
X CHIP MICROELECTRONICS TECH CO LTD
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  • Summary
  • Abstract
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  • Claims
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Problems solved by technology

[0003] Although many domestic and foreign scholars have conducted in-depth research on this field, there are many mature stereo matching methods, but on the one hand, these methods are sensitive to noise, and the obtained disparity map will have foreground expansion effect, and the processing of small objects There are also obvious deficiencies in
On the other hand, these methods mostly use the traditional sliding window method, which greatly increases the running time
In addition, many methods do not optimize the disparity map. Even if they do, they only use the relatively inefficient double check for processing, and cannot achieve both accuracy and speed.

Method used

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  • Image stereo matching method, binocular vision equipment

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Embodiment Construction

[0025] In order to make the above objects, features and advantages of the present invention more comprehensible, specific implementations of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0026] like figure 1 What is shown is a schematic flowchart of an image stereo matching method according to an embodiment of the present invention. refer to figure 1 , the image stereo matching method comprises the steps of:

[0027] Step S1: Perform stereo matching cost calculation on the reference pixel in the captured first image and multiple pixel points to be matched in the second image to determine the matching between the reference pixel and each pixel to be matched Cost value; Wherein, the first image and the second image are images obtained by shooting the same scene from different cameras of the binocular vision device;

[0028] Step S2: Filter out the matching points of the reference pixel points from the plurality of pix...

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Abstract

The invention discloses an image stereo matching method and a binocular vision device. The method comprises steps: stereo matching cost calculation is carried out on a reference pixel point in a firstphotographed image and multiple to-be-matched pixel points in a second photographed image to determine a matching cost value of the reference pixel point and each to-be-matched pixel point, wherein the first image and the second image are images photographed by different cameras of the binocular vision device towards the same scene; a matching point for the reference pixel point is screened fromthe multiple to-be-matched pixel points; and whether the screened matching point is stable is judged according to a matching cost curve, an instable matching point is replaced, and a disparity map isobtained. The technical scheme can effectively improve foreground expansion effects of the disparity map, the operation efficiency is improved, instable matching points are removed through adopting amedian filter method, the disparity map precision can be enhanced, and edge details of the disparity map can also be kept.

Description

technical field [0001] The invention relates to the technical field of image processing, in particular to an image stereo matching method and a binocular vision device. Background technique [0002] Stereo matching (Stereo Matching) is a technique for recovering depth information from planar images, and it is also the basis of computer vision theory and applications. The binocular stereo matching system simulates the principle of human visual perception, uses two digital cameras installed on the same horizontal line, and finds matching corresponding points from images from different viewpoints. It is widely used in industrial production automation, assembly line control, unmanned vehicles (ranging, navigation), security monitoring, remote sensing image analysis, robot intelligent control, etc. [0003] Although many domestic and foreign scholars have conducted in-depth research on this field, there are many mature stereo matching methods, but on the one hand, these methods ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/33G06T7/55
CPCG06T7/33G06T7/55
Inventor 张莉周宇唐艾宾徐洪波童飞余志强张可骄
Owner X CHIP MICROELECTRONICS TECH CO LTD
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