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Binocular stereo matching algorithm under laser scattering spot auxiliary and apparatus thereof

A technology of binocular stereo matching and laser scattering, applied in computing, image data processing, instruments, etc., can solve problems such as high time consumption and complex solution process

Active Publication Date: 2016-08-10
湖南优象科技有限公司
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Problems solved by technology

This type of algorithm is a global optimization, so the matching accuracy is high, but the solution process is more complicated and time-consuming. Representative methods include dynamic programming method and graph cut method.

Method used

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  • Binocular stereo matching algorithm under laser scattering spot auxiliary and apparatus thereof
  • Binocular stereo matching algorithm under laser scattering spot auxiliary and apparatus thereof
  • Binocular stereo matching algorithm under laser scattering spot auxiliary and apparatus thereof

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Embodiment Construction

[0041]When the laser diffusely reflects on the surface of the scatterer or passes through a transparent scatterer (such as ground glass), a random distribution of bright and dark spots can be observed in the light field on or near the scattering surface, which is called laser scattering spots . Using this device can make the area with no texture or sparse texture into a rich texture area.

[0042] Based on the above principles, the present invention provides a binocular stereo matching device assisted by laser scattering spots, including two left and right cameras and an infrared laser device arranged between the left and right cameras. A piece of frosted glass is arranged in front of the infrared laser device. The infrared laser is aimed at the target and emits a collimated laser beam, which is scattered through the ground glass to obtain the desired speckle pattern on the target surface. Both cameras shoot at the target, and the captured images include the target and the sp...

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Abstract

The invention provides a binocular stereo matching algorithm under laser scattering spot auxiliary and an apparatus thereof. A laser device is added in the middle of two cameras of left and right viewing angles. A laser scattering spot is added to a target so that a target area without texture or with sparse textures becomes an abundant texture area. And then, through an algorithm based on characteristic point matching, a stereo matching result is acquired. After a preliminary result of the characteristic point matching is acquired, the invention also provides a method of screening a result by using a neighbor point distance and angle constraint condition so that the number of mismatching is effectively reduced and a matching correct rate is greatly increased. The apparatus adopted in the invention is simple, cost is low, algorithm complexity is small and a good practical value is possessed.

Description

technical field [0001] The invention relates to processing technology in the field of computer vision, in particular to a binocular stereo matching algorithm and device assisted by laser scattering spots. Background technique [0002] Binocular stereo matching refers to finding matching point pairs from two images of the same scene captured by two cameras from the left and right perspectives, and then obtaining the depth information of the original scene. Binocular stereo vision is widely used in the fields of robot navigation, digital medicine, three-dimensional measurement and virtual reality, and is one of the important problems in the field of computer vision. [0003] At present, stereo matching methods are mainly divided into two categories: algorithms based on local constraints and algorithms based on global constraints. Algorithms based on local constraints only use local information around interest points, so the computational complexity is low, but they are easily...

Claims

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Application Information

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IPC IPC(8): G06T7/00
CPCG06T2207/10012
Inventor 罗文峰
Owner 湖南优象科技有限公司
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