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

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...

AI Technical Summary

Problems solved by technology

[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. The method and device use the enhanced histogram of the historical frame to weight and generate the target histogram to solve the above-mentioned over-enhancement problem. question

Images