Power equipment stereo matching method based on global optimization

A technology of global optimization and power equipment, applied in the field of image processing, can solve problems such as difficulty in ensuring matching accuracy

Active Publication Date: 2019-01-11
JIANGSU JIUCHUANG ELECTRICAL S T
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Problems solved by technology

However, when the existing technology processes the collected images, it is difficult to guarantee the matching accuracy.

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  • Power equipment stereo matching method based on global optimization
  • Power equipment stereo matching method based on global optimization
  • Power equipment stereo matching method based on global optimization

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Embodiment Construction

[0091] The inventor found through investigation that stereo matching algorithms are generally divided into two categories: global algorithms and local algorithms. The global algorithm obtains the global optimal disparity by minimizing the energy function of the matching problem, and the energy function includes data items and smoothing items. The global algorithm mainly includes methods such as dynamic programming, belief propagation and graph cut, and the tree-based method is a faster stereo matching method among the global methods. This method has good robustness in the non-textured area of ​​the image, and is not easily affected by noise, and the obtained disparity map is also relatively accurate. However, this kind of method has high complexity and is not suitable for applications in real-time scenarios.

[0092] Compared with the global method, the local stereo matching algorithm usually combines the information of adjacent pixels in the window to calculate the similarit...

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Abstract

The embodiment of that invention relate to the technical field of image processing, and in particular, the invention relates to a power equipment stereo matching method based on global optimization. The method comprises: obtaining a first image and a second image; constructing initial matching cost function, calculating a matching generation value of the first image and the second image accordingto the initial matching cost function, building a minimum spanning tree, using the minimum spanning tree to aggregate the cost of matching generation value to obtain the aggregate value of the cost. The improved tree structure dynamic programming method is used to optimize the cost aggregation value globally and obtain the optimized generation value. The disparity maps of the first image and the second image are obtained by calculating and screening a plurality of new cost aggregation values according to the optimized generation value, and the dense disparity maps are obtained by calculating aplurality of new cost aggregation values according to the disparity maps and screening. The method can effectively improve the matching accuracy of the images under the scene of the electric power equipment.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of image processing, and in particular, relate to a stereo matching method for electric equipment based on global optimization. Background technique [0002] The detection of power equipment can provide reliable guarantee for the safety and reliability of power operation. [0003] In the field of electric power inspection, inspection robots equipped with high-definition digital cameras and cameras can perform positioning and autonomous cruise along the power grid, and transmit and shoot images in real time. Monitoring personnel can simultaneously watch and control on the computer to realize information inspection and avoid safety accidents that may occur during manual inspection. Based on the stereo matching algorithm of binocular stereo vision, the inspection robot can effectively complete the autonomous inspection task of substation equipment, prevent collision accidents between the ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/55
CPCG06T7/55G06T2207/10016G06T2207/10024G06T2207/20228
Inventor 钱荣李庆武罗颖许金鑫严康陈晶晶钱华
Owner JIANGSU JIUCHUANG ELECTRICAL S T
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