Severe motion detection method based on multi-eye stereo vision scene flow
A technology of multi-eye stereo vision and violent motion, which is applied in image analysis, instrumentation, calculation, etc., can solve the problems of false alarm and missing alarm, and achieve the effect of effective violent motion detection
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[0050] combine figure 1 , the severe motion detection based on multi-eye stereo vision scene flow of the present invention mainly comprises the following steps:
[0051] S1. Use the calibrated multi-eye camera to acquire multiple sets of image sequences.
[0052] S2. The input image is preprocessed, and the image sequence is multi-resolution down-sampled by using the image pyramid. Transform the coordinate system according to the internal and external parameters of the camera, and establish the relationship between the image coordinate system and the camera coordinate system.
[0053] S3. Design of scene flow energy functional data items. Different from most previous constraint methods that combine optical flow and parallax, the present invention uses direct fusion of 3D scene flow information and 3D surface depth information. The design of the data item is based on the constancy assumption of the structure tensor, and a robust penalty function is introduced at the same tim...
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