Improved matching cost aggregation stereo matching algorithm

A matching cost and stereo matching technology, applied in computing, image data processing, instruments, etc., can solve the problem of low accuracy

Active Publication Date: 2017-04-26
TIANJIN UNIV
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AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem of low accuracy of the traditional stereo matching algorithm, the present invention proposes a stereo matching algorithm with improved matching cost aggregation
It is planned to remove redundant points in the window and use new adaptive weights for aggregation to solve the problem of low accuracy of traditional stereo matching algorithms

Method used

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  • Improved matching cost aggregation stereo matching algorithm
  • Improved matching cost aggregation stereo matching algorithm

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Embodiment Construction

[0016] Concrete steps of the present invention and principle are as follows:

[0017] (1) Calculation of matching cost

[0018] Select the left and right images in turn as reference images, and use the combination of image brightness information and gradient information to calculate the matching cost

[0019]

[0020]

[0021]

[0022] C(x,y,d)=α*C c (x,y,d)+(1-α)*(C hg (x,y,d)+C vg (x,y,d))

[0023] Among them, k represents the three channels of the image R, G, and B, ▽ x I L 、▽ y I L Represent the horizontal and vertical gradient maps of the RGB channels of the left image, respectively, ▽ x I R 、▽ y I R Respectively represent the horizontal and vertical gradient maps of the RGB channels in the right image, Tc, Thg and Tvg are the truncation thresholds, Tc=60, Thg=15, Tvg=15. α is the balance factor with a value of 0.1. C c (x, y, d) represents the brightness matching cost of the reference pixel, C hg (x,y,d) and C vg (x, y, d) represent the horizonta...

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Abstract

The invention relates to an improved matching cost aggregation stereo matching algorithm, which comprises the following steps: carrying out epipolar rectification on left and right two color images; selecting left and right images as reference images respectively, calculating matching cost through combination of image brightness information and gradient information, and for the left and right images, carrying out the following steps respectively: converting the images to logRGB color spaces respectively; defining a weight factor S and defining color weight and space distance weight; defining self-adaptive weight w (x, y) between pixel points x and y, calculating a disparity value for a disparity space through a WTA rule and obtaining an initial disparity map; and carrying out left and right consistency verification on the left and right initial disparity maps to remove unmatched points, and carrying out parallax filling through a background filling method to obtain a more accurate disparity map. The stereo matching algorithm has the advantages of high efficiency and high accuracy.

Description

technical field [0001] The invention belongs to the stereo matching part in the field of computer stereo vision, and relates to a stereo matching algorithm with improved matching cost aggregation, which can be used for three-dimensional reconstruction and monitoring of images, and provides guidance for medical images, robot navigation and the like. Background technique [0002] Stereo matching is to obtain the depth information of each object in the scene based on multiple two-dimensional images with different viewing angles in the same scene. It is one of the current research hotspots in the field of computer vision. At present, stereo matching has been widely used in many fields, such as monitoring, visual navigation, robot control, etc. [0003] Stereo matching algorithms can be divided into local algorithms and global algorithms. Among them, the global algorithm is essentially an optimization algorithm, which transforms the stereo matching problem into the problem of fi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/30G06T7/593
Inventor 何凯葛云峰闫佳星甄蕊魏颖
Owner TIANJIN UNIV
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