Workpiece image sparse stereo matching method based on improved-type shape context

A stereo matching and context technology, applied in the field of image matching, can solve the problems that the point matching accuracy cannot meet the positioning, the feature description is not sufficiently differentiated, and the gradient attribute is ignored, so as to improve the matching accuracy and matching robustness, and reduce the complexity Degree, improve the effect of anti-interference

Active Publication Date: 2015-08-19
JIANGNAN UNIV +1
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Problems solved by technology

However, the shape context only considers the position distribution relationship of each point, and ignores the gradient attribute of the point itself. There are one-to-many and many-to-one mismatch problems during matching. For ste

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  • Workpiece image sparse stereo matching method based on improved-type shape context
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  • Workpiece image sparse stereo matching method based on improved-type shape context

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[0018] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0019] The present invention provides a workpiece image sparse stereo matching method based on an improved shape context. The entire algorithm flow is mainly composed of image preprocessing, Canny edge extraction, uniform sampling of edge points, rough matching of shape context, fine matching of gradient direction histogram and left and right Consistency check removes mismatches and other components.

[0020] For further explanation, the specific implementation steps are:

[0021] (1) Input the left and right image pair containing the workpiece, and then perform feature extraction on the left and right images respectively according to (2) to (9).

[0022] (2) Perform gray-scale normalization processing on the input image.

[...

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Abstract

The invention provides a workpiece image sparse stereo matching method based on an improved-type shape context. The method integrates a shape context capable of reflecting a point position distribution relationship and gradient direction histogram features capable of reflecting point gradient attributes, and mainly comprises steps: pretreatment, such as gray normalization and Otsu binaryzation, is carried out on a left-right image pair comprising workpieces; Canny edge extraction is carried out on a binary image, and discrete edge points are obtained through uniform sampling; according to the histogram distribution of the shape context, a candidate matching point collection is determined, a similarity measurement and calculation formula is improved, and rough matching of the shape context is carried out; the gradient direction histogram features are used for fine matching of the gradient direction histograms; and left-right consistency is introduced for calibrating and removing error matching point pairs. In the condition of meeting real-time performance requirements, the original shape context matching precision and the matching robustness can improved, and a foundation is laid for realizing quick and accurate workpiece 3D positioning subsequently.

Description

Technical field [0001] The invention relates to the field of using binocular vision to perform 3D positioning of a workpiece, and specifically refers to an image matching method applied to an industrial field that can effectively solve the problem of shooting the same workpiece under different angles by a binocular vision system. Background technique [0002] Stereo matching is a key technology of the binocular vision system, and its purpose is to determine the correspondence between the points of the stereo image to obtain the disparity map. At present, it can be roughly divided into two categories: global matching methods and local matching methods. Global matching methods mainly include dynamic programming, belief propagation, Graph Cut, etc. These methods obtain dense parallax, which requires a large amount of calculation and takes a long time, and is not suitable for occasions with high real-time requirements. Local matching methods mainly include region-based matching meth...

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Application Information

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IPC IPC(8): G06T7/00
CPCG06T7/0004G06T7/85G06T2207/10004G06T2207/10021G06T2207/20221G06T2207/30164
Inventor 白瑞林范莹陈瑾吉峰
Owner JIANGNAN UNIV
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