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Image processing method for determining depth information from at least two input images recorded using a stereo camera system

A stereo camera and image processing technology, applied in the field of computer programs, can solve problems such as insufficient parallax estimation accuracy and standard deviation

Inactive Publication Date: 2012-04-18
ROBERT BOSCH GMBH
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

[0009] - Insufficient precision of disparity estimation, e.g. standard deviation on the order of multiple disparity levels

Method used

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  • Image processing method for determining depth information from at least two input images recorded using a stereo camera system
  • Image processing method for determining depth information from at least two input images recorded using a stereo camera system
  • Image processing method for determining depth information from at least two input images recorded using a stereo camera system

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Embodiment Construction

[0034] image 3 Shown is a stereo camera system designed as a stereo video system 10 with two image sensors 11 and 12, two image sensor signal lines 13 and 14, an evaluation unit or image processing device 15, an output signal line 16 and a System 17 behind. For example, CCD cameras or CMOS cameras can be used as image sensors 11 , 12 , but thermal imaging devices or the like can also be used. The two image sensors 11, 12 are arranged such that they image the same scene, but at slightly different viewing angles. The image sensors 11 , 12 transmit images of the observed scene to an image processing device 15 . The image processing device 15 generates an output signal on an output signal line 16 , which is transmitted electrically, digitally, acoustically and / or visually to a downstream system 17 for display, information and / or storage. In the present exemplary embodiment, the latter system is a driver information system 17 of a motor vehicle (not shown) which has a stereoscop...

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Abstract

An image processing method for determining depth information from at least two input images (A1, A2) recorded using a stereo camera system, wherein the depth information is determined from a disparity graph taking into account geometric properties of the stereo camera system, characterized by the following method steps for determining the disparity graph: transforming the input images (A1, A2) into signature images (B1, B2) using a predefined operator; - calculating the costs (C) on the basis of the signature images (B1, B2) using a parameter-free statistical rank correlation measurement for determining a cost space for predefined disparity levels in relation to at least one of the at least two input images (A1, A2); carrying out a correspondence analysis (D) for each point in the cost space for the predefined disparity levels, wherein the disparity to be determined in each case corresponds to the lowest costs; and determining the disparity graph from the previously determined disparities.

Description

technical field [0001] The invention relates to an image processing method for determining depth information from at least two input images recorded by means of a stereo camera system, wherein the depth information is calculated from a disparity map taking geometrical features of the stereo camera system into account. Furthermore, the invention relates to a computer program, a computer program product and an apparatus for carrying out or carrying out such a method. Background technique [0002] Depth calculation based on two stereo images is a standard problem in image processing, for which numerous algorithms have been published to solve the problem. In this case, the disparity d between the temporally synchronized and corrected pairs of stereoscopic images or stereoscopic video images is determined by means of a stereoscopic evaluation method. As can be seen from FIG. 1 , the disparity d is defined as a one-dimensional displacement vector along the image row direction and...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04N13/00G06T7/00
CPCG06T7/0075G06T2207/10012G06T7/593
Inventor H·V·齐策维茨W·聂森A·文特
Owner ROBERT BOSCH GMBH
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