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Semi-global stereo matching method based on surface orientation priority

A stereo matching, semi-global technology, applied in the field of computer vision, can solve problems such as unsatisfactory matching effect

Inactive Publication Date: 2018-07-17
视缘(上海)智能科技有限公司
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AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to propose a semi-global stereo matching method based on surface orientation priority, which can solve the problem of unsatisfactory matching effect for large-scale indoor scenes without texture in the existing matching technology

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  • Semi-global stereo matching method based on surface orientation priority
  • Semi-global stereo matching method based on surface orientation priority
  • Semi-global stereo matching method based on surface orientation priority

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Embodiment Construction

[0048] In order to make the purpose, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. The schematic embodiments of the present invention and their descriptions are only used to explain the present invention, and are not intended as an explanation of the present invention. limited.

[0049] see Figure 1-Figure 3 , a semi-global stereo matching method based on surface orientation priority, including the following steps:

[0050]S1, semi-global matching (SGM) algorithm

[0051] Before describing the embodiments of the present invention in detail, the SGM algorithm is briefly introduced.

[0052] The semi-global matching (SGM) algorithm is an efficient method for approximating energy-minimized 2D MRFs.

[0053]

[0054] C p (d) is a unary data item, which means that d∈D={d min ,...,d max} is the cost of matching pixel P, V(d,d′) is a pair of smoothing t...

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Abstract

The present invention discloses a semi-global stereo matching method based on surface orientation priority, which solves the problem that the matching effect of the large-scale untextured indoor sceneis not ideal in the existing stereo matching technology. The method comprises the following steps: S1, the SGM algorithm; S2, the two-dimensional direction prior; S3, the three-dimensional directionprior; and S4, the surface normal prior. The method disclosed by the present invention is the prior on a simple surface, and can also be significantly improved in the matching of complex scenes containing bevels and weaker textures.

Description

technical field [0001] The invention relates to computer vision technology, in particular to a semi-global stereo matching method based on surface orientation priority. Background technique [0002] Stereo matching, as a key step in 3D reconstruction, stereo navigation, and non-contact distance measurement, obtains depth information by matching two or more images. And 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. Although stereo matching is widely used, there are still many unsolved problems. Therefore, this technology has become a difficulty and hot spot in the field of computer vision in recent years. With the advancement of science and technology in society, the development of stereo matching technology is changing with each passing day. With the improvement of the accuracy and speed of matching algorithms, its appli...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/593G06T7/536
CPCG06T2207/10012G06T7/536G06T7/593
Inventor 王国强张斌骞志彦陈学伟王旭东
Owner 视缘(上海)智能科技有限公司
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