Range finding method and range finding device based on binocular video

A technology of binocular video and ranging method, which is applied in image data processing, instruments, calculations, etc., can solve the problem that the accuracy and calculation speed cannot meet the requirements at the same time, achieve the problem of solving the problem that the efficiency and accuracy cannot be balanced, improve the algorithm accuracy, The effect of improving the ranging speed

Active Publication Date: 2016-03-23
QINGDAO GOERTEK
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Problems solved by technology

[0003] In view of the problem in the prior art that the accuracy and calculation speed of calculating the depth map based on binocular stereo vision cannot meet the requirements at the same time, the present invention provides a ranging method and device based on binocular video to solve the above problems or at least Partially solve the above problems

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  • Range finding method and range finding device based on binocular video
  • Range finding method and range finding device based on binocular video
  • Range finding method and range finding device based on binocular video

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Embodiment Construction

[0039] In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0040] figure 1 A flowchart showing a binocular video-based ranging method according to an embodiment of the present invention, as shown in figure 1 As shown, the method includes,

[0041] Step S110, acquiring binocular images.

[0042] Step S120, preprocessing the binocular image, including epipolar line correction and grayscale processing.

[0043] Step S130, find the corresponding points matched by each pixel point in the binocular image through the stereo matching algorithm, calculate the disparity value of each pixel point in the binocular image, and obtain the disparity map.

[0044] Step S140, setting a sample set, and using the disparity map of the first frame to be processed to initialize the sample set.

[0045] Step S150...

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Abstract

The invention discloses a range finding method and a range finding device based on a binocular video. The range finding method comprises the steps of acquiring a binocular image; performing preprocessing on the binocular image; finding a corresponding point which matches each pixel point from the binocular image through a stereo matching algorithm, calculating a parallax of each pixel point of the binocular image and obtaining a parallax graph; setting a sample set and initializing the sample set by means of a processed first parallax frame; performing parallax optimization and target extraction on the current parallax frame by means of the sample set, and updating the sample set, and utilizing the sample set in parallax optimization and target extraction on a next parallax frame; calculating the average value of parallaxes of all pixel points of a target extracted from the current parallax frame, and calculating for obtaining a distance to the target according to a binocular range finding algorithm. According to the range finding method and the range finding device, after the parallax graph is acquired through the stereo matching algorithm, algorithm precision is improved through processing of multiple frames, and furthermore the target is effectively extracted. The range finding method and the range finding device can settle a problem of incapability of simultaneously realizing high efficiency and high precision.

Description

technical field [0001] The invention relates to the technical field of binocular stereo vision, in particular to a binocular video-based ranging method and device. Background technique [0002] At present, due to the wide application of cameras, video analysis is also widely used in various industries. There are many ways to measure distance, such as lasers, and each method has its advantages and disadvantages. Therefore, different methods will be used depending on the application field. Due to the large amount of information in the image, it can automatically detect the target and measure the distance of the target. Therefore, more and more people pay attention to and use binocular stereo vision. Stereo matching is a key step in stereo ranging, but due to The current stereo matching algorithm has many shortcomings. For example, the simple algorithm, the calculated depth map is inaccurate and has many noises, and the complex algorithm, the calculated depth map is accurate, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
CPCG06T2207/10021G06T2207/20228
Inventor 王晓曼
Owner QINGDAO GOERTEK
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