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Parallax confidence estimation method and device, electronic equipment and medium

An electronic device and confidence technology, applied in the field of image processing, can solve the problem of parallax without confidence

Pending Publication Date: 2020-10-16
安徽奇点智能新能源汽车有限公司
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Problems solved by technology

[0004] In view of this, the embodiments of the present disclosure provide a disparity confidence estimation method, device, electronic equipment and medium, which at least solve the problem that the disparity of each point in the prior art has no confidence, resulting in the inability to know the disparity result of this point. The technical question of how much to trust

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  • Parallax confidence estimation method and device, electronic equipment and medium
  • Parallax confidence estimation method and device, electronic equipment and medium
  • Parallax confidence estimation method and device, electronic equipment and medium

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[0052] Hereinafter, preferred embodiments of the present disclosure will be described in more detail. Although the preferred embodiments of the present disclosure are described below, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein.

[0053] Such as figure 1 As shown, the distance between the object P and the camera is Z, the image Pr formed on the left camera, the image formed on the right image is Pt, the distance from Pr to the left edge of the left image is Xr, and the distance from Pt to the left edge of the right image is Xt , The origin of the two cameras is the baseline distance B, the camera focal length f,

[0054] Based on the similarity of triangles, we can infer:

[0055] Z=B*f / (Xr-Xt)=B*f / d.

[0056] d is the parallax to be measured. As long as the parallax of a certain point is measured from the left and right images, the distance between the point and the camera can b...

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Abstract

The embodiment of the invention discloses a parallax confidence estimation method and device, electronic equipment and a medium. The parallax confidence estimation method comprises the following steps: acquiring an optimal parallax and a plurality of alternative parallaxes; calculating the cost value of the optimal parallax and the cost value of the alternative parallax; calculating a difference value between the cost value of each alternative parallax and the cost value of the optimal parallax to obtain a plurality of difference values; calculating a mean value and a mean square error of theplurality of difference values; obtaining the confidence coefficient of the parallax based on the mean value and the mean square error. The cost value of the parallax is calculated, and the mean valueand the mean square error are calculated based on the cost value of the parallax, so that the confidence coefficient of the parallax is obtained based on the mean value and the mean square error; andevaluating the parallax of each point through the confidence coefficient so as to judge the credibility of the parallax of each store.

Description

Technical field [0001] The present disclosure belongs to the field of image processing technology, and more specifically, relates to a method, device, electronic device, and medium for estimating parallax confidence. Background technique [0002] Binocular vision is to calculate the distance information from the object to the camera based on the difference (parallax) of the position of the same object on the two cameras. [0003] In the prior art, the optimal cost and the sub-optimal cost are compared when calculating the disparity, and an appropriate threshold is used to determine whether the optimal disparity is correct or not. The result of this method for judging the disparity is too arbitrary. When calculating the disparity map, the disparity of each point has no confidence, which makes it impossible to know how much the disparity result at that point can be trusted. Therefore, the disparity map appears with many holes, and the final disparity map has no confidence. Summary ...

Claims

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Application Information

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IPC IPC(8): G06T7/55G06T7/70
CPCG06T7/55G06T7/70G06T2207/20228
Inventor 何君舰赵东旭孟凯曹洪胜
Owner 安徽奇点智能新能源汽车有限公司
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