Method and system for generating disparity map, storage medium, and computer program product

A disparity map and computer technology, applied in the field of image processing, can solve the problems of large memory usage and undetermined pixel disparity value, and achieve the effect of reducing the occupation and improving the accuracy.

Active Publication Date: 2018-08-14
SZ DJI TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Taking the image as an example, the image is processed line by line from top to bottom. When calculating the cost of a certain pixel in the disparity map, the disparity value of the pixel located in the next line of the pixel has not yet been obtain...

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  • Method and system for generating disparity map, storage medium, and computer program product
  • Method and system for generating disparity map, storage medium, and computer program product
  • Method and system for generating disparity map, storage medium, and computer program product

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Embodiment Construction

[0021] This application can be applied to any image processing system that needs to obtain a disparity map. The image processing system may be, for example, an unmanned aerial vehicle, a robot, an unmanned vehicle, a submersible, etc. that have a visual perception function.

[0022] The SGM algorithm mentioned in this application may sometimes be called a semi-global blockmatching (SGBM) algorithm.

[0023] In order to reduce the memory usage of the SGM algorithm, a SGM acceleration algorithm is proposed. The SGM acceleration algorithm does not need to perform omni-directional cyclic iterations on the pixels. The selection of the iteration direction by the SGM acceleration algorithm makes the calculation of the pixel disparity value in the disparity map unnecessary or less dependent on the pixels around the pixel that have not yet calculated the disparity value. , so that the memory usage of the disparity map calculation process can be reduced.

[0024] For ease of understan...

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Abstract

A method and system for generating a disparity map, a storage medium, and a computer program product are provided. The method for generating a disparity map includes the steps: acquiring a first leftview and a first right view; generating a first initial disparity map through an SGM (semi-global matching) acceleration algorithm according to the first left view and the first right view; generatinga second left view and a second right view according to the first left view and the first right view, wherein the second left view and the second right view are respectively identical to the views obtained after the first left view and the first right view are rotated by 180 degrees, or the second left view and the second right view are respectively identical to the views obtained after the firstright view and the first left view are rotated by 180 degrees; according to the second left view and the second right view, generating a second initial disparity map through the SGM acceleration algorithm; and according to the first initial disparity map and the second initial disparity map, determining a target disparity map. By using the SGM acceleration algorithm for multiple times, the methodfor generating a disparity map can realize the computational performance similar to the SGM algorithm on the premise of not increasing the memory pressure.

Description

[0001] Copyright statement [0002] The disclosure of this patent document contains material that is protected by copyright. This copyright belongs to the copyright owner. The copyright owner has no objection to the reproduction by anyone of the patent document or the patent disclosure as it exists in the official records and files of the Patent and Trademark Office. technical field [0003] The present application relates to the field of image processing, and more specifically, to a method, system, storage medium and computer program product for generating a disparity map. Background technique [0004] The semi-global matching (SGM) algorithm is a commonly used algorithm for generating disparity maps. The SGM algorithm can be applied to the binocular vision system. The SGM algorithm can calculate the disparity map based on the left view and right view collected by the binocular vision system. Further, the binocular vision system can obtain the depth information of the c...

Claims

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Application Information

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IPC IPC(8): G06T7/55G06T7/33G06T3/60
CPCG06T3/60G06T2207/10028G06T2207/20228G06T7/337G06T7/55G06T7/593H04N2013/0081H04N13/128H04N13/271H04N13/344
Inventor 冯华亮杜劼熹朱振宇
Owner SZ DJI TECH CO LTD
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