Stereo matching method based on digital score delay technology

Abstract

The invention relates to a stereo matching method based on a digital score delay technology, comprising the following specific steps: correcting the obtained left and right images by the correction algorithm and converting the left and right images into grayscale images; then segmenting the target objects which need the ranging in the images after conversion by the segmenting method, and then projecting the targets in the left and right images respectively in the vertical direction to convert into a one-dimensional signal, thereby converting the stereo matching of the images into the delay detection of the corresponding one-dimensional signal; minimizing the error through the global matching to obtain the parallax of the entire pixel; then calculating the parallax in sub-pixel level by using the method of digital score delayer; and finally calculating the depths of the target objects by the method of binocular vision. The method provided by the invention can be used for calculating the depth of far targets, such as buildings, bridges and the like in long distance.

Description

technical field [0001] The invention relates to a stereo matching method, in particular to a stereo matching algorithm based on digital fractional delay technology. Background technique [0002] Stereo vision technology is one of the key technologies for obtaining 3D depth information. To quickly and accurately identify building information in the field environment and determine the exact location of the target building requires the matching algorithm of the stereo vision positioning system to have high accuracy. and real-time. However, binocular stereo matching has always been one of the research hotspots in the acquisition of 3D scene structure information. The basic principle is to observe the same scene from two viewpoints to obtain a stereo pair, match the corresponding image points, and then calculate the parallax and obtain 3D information. Especially in the 1980s, Marr of the Massachusetts Institute of Technology proposed a visual computing theory and applied it to b...

AI Technical Summary

Problems solved by technology

One of the outstanding disadvantages of the region matching algorithm is that for non-textured regions, the sharpness of the correlation function change is not enough and it is difficult to preserve the depth discontinuity characteristics, so it is impossible to obtain accurate matching results.

Feature matching can only obtain sparse disparity maps, and a more complex interpolation process is required to obtain dense disparity, so conventional feature algorithms are often difficult to achieve the desired effect

The depth change of the target is negligible relative to its distance from the camera system, that is, when the target object is far away, the texture information is relatively small, and when the features are not obvious, the obtained parallax error is large

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