Method and apparatus for generating disparity map based on image frames photographed by stereo camera

A technology of stereo camera and image frame, which is applied in stereo system, image communication, image enhancement, etc., and can solve problems such as over-enhancement

Active Publication Date: 2016-04-27
RICOH KK
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[0003] The purpose of the embodiments of the present invention is to provide a method and device for generating a disparity map based on image frames captured by a stereo camera. T

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  • Method and apparatus for generating disparity map based on image frames photographed by stereo camera
  • Method and apparatus for generating disparity map based on image frames photographed by stereo camera
  • Method and apparatus for generating disparity map based on image frames photographed by stereo camera

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Embodiment Construction

[0013] 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.

[0014] figure 1 is a flowchart describing a method for generating a disparity map from image frames captured by a stereo camera according to an embodiment of the present invention. Below, will refer to figure 1 A method 100 for generating a disparity map from image frames captured by a stereo camera (hereinafter simply referred to as “the method for generating a disparity map”) according to an embodiment of the present invention will be described. In an embodiment according to the present invention, the specific form of the stereo camera includes but not limited to ...

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Abstract

The invention discloses a method and an apparatus for generating a disparity map based on image frames photographed by a stereo camera. The method includes steps of generating an initial standard grayscale histogram and an initial reference grayscale histogram based on a first image frame, generating a target standard grayscale histogram and a target reference grayscale histogram for a predetermined area of a first standard image based on historical information of a second image frame, calculating a standard mapping function from the initial standard grayscale histogram to the target standard grayscale histogram and a reference mapping function from the initial reference grayscale histogram to the target reference grayscale histogram, performing the standard mapping function on the predetermined area of the first standard image to obtain an enhanced standard image of the first image frame and performing the reference mapping function on the predetermined area of the first reference image to obtain an enhanced reference image of the first image frame, and generating a first disparity map corresponding to the first image frame based on the enhanced standard image and the enhanced reference image of the first image frame.

Description

technical field [0001] The present invention relates to a method and a device for generating a disparity map, and more particularly, the present invention relates to a method and a device for generating a disparity map based on image frames captured by a stereo camera. Background technique [0002] With the development of technologies such as 3D reconstruction and virtual reality, disparity information indicating the distance between a camera and a specific object captured has been widely used in applications such as assisted driving. By performing image matching on the reference image and the reference image captured by the stereo camera on the same scene, the matching pixel point pair can be found in the reference image and the reference image, and the disparity corresponding to each pixel point coordinate can be calculated. Furthermore, the disparity can be used to accurately describe the three-dimensional space information of the scene. Contents of the invention [00...

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Application Information

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IPC IPC(8): H04N13/00
CPCG06T5/007G06T5/40G06T7/593H04N13/128H04N13/133H04N2013/0081
Inventor 刘童师忠超任杰鲁耀杰陈超
Owner RICOH KK
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