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Matching cost calculation method and device, and disparity value calculation method and device

A matching cost and calculation method technology, applied in computing, image analysis, instruments, etc., can solve the problems of indistinguishable matching cost, wrong parallax information, etc.

Inactive Publication Date: 2018-04-17
RICOH KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] However, since the above process of selecting adjacent pixels does not fully consider whether the selected pixel has representative information in the relevant image, it is likely to get an indistinguishable matching cost, and then get wrong disparity information in the subsequent steps

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  • Matching cost calculation method and device, and disparity value calculation method and device
  • Matching cost calculation method and device, and disparity value calculation method and device
  • Matching cost calculation method and device, and disparity value calculation method and device

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Embodiment Construction

[0038] Various embodiments according to the present application will be described in detail with reference to the accompanying drawings. Here, it should be noted that in the drawings, the same reference numerals are given to constituent parts that basically have the same or similar structure and function, and repeated descriptions about them will be omitted.

[0039] In order to enable those skilled in the art to better understand the application, the application will be further described in detail in the following order.

[0040] 1. Brief introduction of existing technology

[0041] 2. Overview of the thoughts of this application

[0042] 3. Calculation method of matching cost

[0043] 3.1, the first specific example

[0044] 3.2, the second specific example

[0045] 4. Calculation method of disparity value

[0046] 5. Matching cost calculation device

[0047] 6. Parallax value calculation equipment

[0048] 7. Parallax value calculation system

[0049] 8. Hardware system for disparity calc...

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Abstract

The present application discloses a matching cost calculation method and device, and a parallax value calculation method and device. The matching cost calculation method includes: determining a reference representative pixel set for a reference pixel in a reference image, the reference representative pixel set includes the reference pixel, and the first predetermined neighborhood of the reference pixel and its significance is greater than a threshold at least one pixel; determine a target representative pixel set for the target pixel in the target image, the target representative pixel set includes the target pixel, and at least one pixel in the first predetermined neighborhood of the target pixel and whose significance is greater than the threshold a pixel; and calculating the matching cost between the reference pixel and the target pixel according to the pixel value of each pixel in the reference representative pixel set and the pixel value of each pixel in the target representative pixel set. Therefore, a distinguishable matching cost can be obtained, and then correct disparity information can be obtained.

Description

Technical field [0001] This application generally relates to the field of digital image processing, and more specifically, this application relates to a matching cost calculation method and device, and a disparity value calculation method and device. Background technique [0002] The stereo matching method has a wide range of applications in many fields such as robots, surveillance and intelligent vehicles. The disparity information (or called depth information) obtained by the stereo matching method can be used to estimate the relative distance between the image capturing device and the object. For example, taking a smart vehicle as an example, the disparity information obtained by the stereo matching method can easily detect road surfaces, white lines, and fences, and then detect and classify objects such as pedestrians and vehicles, thereby enabling comprehensive control of the vehicle Overall driving conditions. [0003] The basic principle of the stereo matching method is to...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/32
Inventor 刘振华刘媛师忠超刘殿超
Owner RICOH KK
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