Method and apparatus for calculating parallax
A disparity value and difference value technology, which is applied in the field of disparity value calculation based on matching cost curve, can solve problems such as inapplicability, and achieve the effect of accurate and dense disparity map.
Active Publication Date: 2015-09-16
RICOH KK
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[0007] However, since the threshold is set artificially, there is a problem that the determined threshold is subjective and not suitable for all situations
In addition, the threshold is usually set to a large value in order not to introduce wrong disparity values, which results in a large number of correct disparity values being discarded
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[0028] In order for those skilled in the art to better understand the present invention, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Note that in this specification and the drawings, substantially the same steps and elements are denoted by the same reference numerals, and repeated explanation of these steps and elements will be omitted.
[0029] Figure 4 is a flowchart describing a method for calculating disparity according to an embodiment of the present invention. Below, will refer to Figure 4 A method for calculating parallax according to an embodiment of the present invention will be described. Such as Figure 4 As shown, in step S401, the initial matching cost curve of the first pixel in the reference image is obtained according to the reference image and the reference image. According to an example of the present invention, a left image and a right image can be captured by a binocular camer...
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The embodiments of the invention provide a method and apparatus for calculating a parallax. The method for calculating the parallax, provided by the embodiments of the invention, comprises the following steps: according to a benchmark image and a reference image, obtaining an initial matching cost curve of a first pixel point in the benchmark image; determining whether a difference between a minimum value and a second minimum value of a matching cost in the initial matching cost curve is greater than a predetermined value; when the difference is greater than the predetermined value, taking a parallax value corresponding to the minimum value of the matching cost in the initial matching cost curve as a parallax value of the first pixel point; and when the difference is smaller than the predetermined value, obtaining a correction matching cost curve of the first pixel point by use of gray scale information, and taking a parallax value corresponding to a minimum value of a matching cost in the correction matching cost curve as the parallax value of the first pixel point.
Description
technical field [0001] The present invention relates to a method and a device for calculating a disparity value, and more particularly, the present invention relates to a method and a device for calculating a disparity value based on a matching cost curve. Background technique [0002] With the development of technologies such as 3D reconstruction, virtual reality, etc., disparity information indicating the distance between a camera and a specific object being photographed has been widely used. Through the stereoscopic image matching technology, matching pixel point pairs can be found in the reference image and the reference image about the same 3D scene, and the parallax value corresponding to each pixel point coordinate can be calculated. Furthermore, the disparity value can be used to accurately describe the three-dimensional spatial information of the scene. [0003] In the process of disparity calculation, a disparity value calculation method has been proposed which ca...
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IPC IPC(8): G06T7/00G06T7/32G06T7/55
Inventor 赵秀洁刘媛刘振华刘殿超师忠超
Owner RICOH KK