A method of determining the maximum parallax
A maximum parallax, parallax technology, applied in image analysis, image enhancement, instrument and other directions, can solve problems such as increasing mismatching, increasing computing time, and inefficiency
Active Publication Date: 2020-07-03
CHENGDU CK TECH
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However, this method is not efficient enough. The main reason is: under the same image resolution, the maximum parallax of the image is different according to the distance of the nearest scene from the lens.
If the same maximum disparity value is set for all images, then it is more reasonable when the actual maximum disparity is almost the same as the set maximum disparity; however, when the actual maximum disparity is much different from the set maximum disparity, then It is unreasonable to do it, it will not only increase the probability of mismatching, but also increase the calculation time
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[0013] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following description.
[0014] Such as figure 1 As shown, a method for determining the maximum parallax includes the following steps:
[0015] Acquire the first image and the second image, and calculate the maximum theoretical parallax.
[0016] Calculating the maximum theoretical parallax includes calculating the maximum theoretical parallax value D1 according to calibration parameters of the vision system when determining the measurement range.
[0017] Obtain a set of sparse feature points in the first image.
[0018] The sparse feature points are surf feature points or Harris corner points.
[0019] Finding a group of first matching points corresponding to the sparse feature points in the second image according to the maximum theoretical disparity;
[0020...
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The invention discloses a method for determining the largest parallax, which comprises the following steps: obtaining a first image and a second image; figuring out the largest parallax in theory; solving a set of sparse feature points from the first image; according to the largest parallax in theory, searching in the second image a set of first matching points corresponding to the sparse feature points; using the first matching points in the second image as feature points and using the largest parallax value as the largest matching parallax; searching in the first image a set of second matching points corresponding to the first matching points; for each of the second matching points, if it is identical to the corresponding sparse feature point, then solving the parallax values of the sparse feature point and the corresponding first matching point; solving the maximum value Dmax of all the calculated parallax values; and setting the largest parallax as (1+k)*Dmax wherein k is a constant number. The method of the invention is capable of giving the suitable largest parallax to different images.
Description
technical field [0001] The invention relates to the technical field of parallax determination, in particular to a method for determining the maximum parallax. Background technique [0002] In the stereo matching process of 3D imaging, the prior art generally needs to set a maximum disparity value, and use the disparity value as the end point of the matching search. In the actual application process, the traditional method usually sets a maximum parallax value according to experience, and there is no problem in this method in principle. However, this method is not efficient enough, mainly because: under the same image resolution, the maximum parallax of the image is different according to the distance of the nearest scene from the lens. If the same maximum disparity value is set for all images, then it is more reasonable when the actual maximum disparity is almost the same as the set maximum disparity; however, when the actual maximum disparity is much different from the set...
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IPC IPC(8): G06T7/33G06T5/00
Inventor 詹肇楷
Owner CHENGDU CK TECH