Multi-lens stereoscopic vision parallax calculating method

Abstract

The invention discloses a multi-lens stereoscopic vision parallax calculating method, and belongs to the field of computer vision. The method comprises four steps: initialization, the obtaining of all binocular parallaxes for range finding, the obtaining of a multi-lens parallax for range finding, and ending. A weighted averaging method is employed for the calculation of a final parallax, and can eliminate a range finding error better. A scene is observed from a plurality of viewpoints, so as to obtain perception images at different visual angles. The position deviation among pixels of the images is calculated through a triangular measurement principle, so as to obtain the three-dimensional information of the scene. The multi-lens stereoscopic vision parallax method is given on the basis of a stereoscopic parallel vision model. A parallax calculation method of the stereoscopic parallel vision model is employed for the mutual parallax calculation of a plurality of lenses, thereby obtaining a more precise imaging parallax, and enabling the depth information of object points in three-dimensional reconstruction to be more precise. The plurality of lenses can rotate around a circle center in each distribution mode at a proportion with the unchanged relative distance, or can be arranged in a turnover manner along the axis of a line in a plane.

Description

technical field [0001] The invention belongs to the field of computer vision, and in particular relates to a method for calculating the parallax of multi-lens stereo vision. Background technique [0002] Stereo vision is an important branch of computer vision. Stereo vision is the most important distance perception technology in computer passive ranging methods. It directly simulates the way human vision processes scenes, and can flexibly measure the stereo of scenes under various conditions. Information, its role cannot be replaced by other computer vision methods. The research on it is of great significance both from the perspective of visual physiology and in engineering applications. The basic principle of stereo vision is to observe the same scene from two (or more) viewpoints to obtain perceptual images under different viewing angles, and to obtain the three-dimensional information of the scene by calculating the position deviation between image pixels (that is, paral...

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Problems solved by technology

[0003] Image-based two-dimensional visual inspection technology has been applied in the visual inspection and automatic monitoring process of products on the production line, but the two-dimensional visual inspection can only distinguish and detect the relative position, shape, mark and other two-dimen...

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