Sub-pixel level stereo matching method based on scale space

Abstract

The invention provides a sub-pixel level stereo matching method based on a scale space. The method comprises the following steps of: (1) establishing the scale space for a stereopair; (2) determining the size of a matching window for each point of a current level reference image in the scale space; (3) calculating a parallax searching range for each point of the level reference image according to the parallax of the former level; (4) calculating an integer-grade parallax of the current level in the scale space; and (5) calculating a sub-pixel level parallax through a sub-pixel level matching method based on binary search. The method of the invention uses the stereopair generated under the condition of small height ratio to match; a dispersed scale space is used in the matching process to improve the matching efficiency; a bonding phenomenon generated in the matching process is reduced by using a mixed window selecting strategy; and the sub-pixel level parallax is obtained by the sub-pixel level matching method based on the binary search so as to ensure high sub-pixel level precision, and greatly improve matching efficiency of the algorithm.

Description

technical field [0001] The invention relates to computer vision, signal processing, and stereo surveying and mapping methods, and is a sub-pixel level stereo matching method. Background technique [0002] The depth difference of the 3D scene will produce geometric displacement on the views obtained from different viewpoints. Stereo matching is based on this principle by matching two or more views from different viewpoints to obtain the parallax of the corresponding points, and then calculate the scene through the principle of triangulation depth information. Stereo matching is a hot issue in the field of computer vision, and it has a wide range of applications in robot navigation, stereo mapping, aerial photogrammetry, remote sensing and other fields. [0003] The stereo image pair formed under the traditional large base height ratio will have more occlusion, larger radiation difference and geometric distortion, and relative position changes due to moving objects in the sce...

AI Technical Summary

Problems solved by technology

Depth information, base height ratio and disparity satisfy dz=dε / (b / h). When the parallax accuracy is given, the larger the base height ratio is, the smaller the depth error is. Therefore, in stereoscopic observation, a larger Base height ratio to reduce the increase in depth error due to insufficient parallax accuracy, but at the same time, a large base height ratio increases the difficulty of matching, resulting in a large number of mismatches

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