Method and device for sparse scene flow detection in mobile environment

Abstract

The invention discloses a method and device for detecting a sparse scene flow under a mobile environment. The method specifically comprises the steps of acquiring images in the mobile environment through a binocular camera, acquiring a left image and a right image of the current frame and a left image and a right image of the previous frame; acquiring a first matching point pair set correspondingto a first sparse scene flow based on the four images; expanding first matching point pair set, and acquiring a second matching point pair set corresponding to a second sparse scene flow; and acquiring a self-motion scene flow of the binocular camera and a moving target scene flow in the second sparse scene flow. According to the self-motion scene flow of the binocular camera, the pose state and avisual odometer of the binocular camera can be acquired; and according to the moving target scene flow, the moving trajectory of a moving target can be acquired and / or the moving state of the movingtarget can be predicted.

Description

technical field [0001] The invention relates to the fields of image processing and computer vision, in particular to a sparse scene flow detection method and device in a mobile environment. Background technique [0002] With the continuous improvement of the performance of software and hardware equipment and the gradual development of artificial intelligence technology, the analysis of static scenes in the traditional fixed state is gradually moving towards the analysis of moving scenes in the mobile state. more and more attention. [0003] Scene flow refers to the three-dimensional scene motion vector of the inherent target in the actual scene, while optical flow refers to the two-dimensional surface motion vector of the projected image of the actual scene, where the optical flow is essentially the projection of the scene flow on the two-dimensional image plane, so the scene flow It can better reflect the essential motion state of the actual target. The introduction of sc...

AI Technical Summary

Problems solved by technology

[0006] The embodiment of the present invention provides a sparse scene flow detection method and device in a mobile environment, which is used to solve the problem that the detection process takes a long time and cannot be real-time when detecting a moving target by obtaining a dense scene flow in the prior art. When processing data and performing detection by obtaining sparse scene flow, it is difficult to obtain scene flow in low-texture areas, which will lead to technical problems of reduced detection accuracy

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