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A cost aggregation method based on variable window

A technology of cost aggregation and windowing, which is applied in image data processing, instrumentation, computing, etc., can solve problems such as no matching, small matching window, and inability to obtain matching information, and achieve the effect of solving wrong matching

Inactive Publication Date: 2019-01-25
深圳市凌云视迅科技有限责任公司
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

Its disadvantage is that for some special cases, such as oblique slender rods, small objects with too few pixels, etc., it is easy to get enough matching information because the matching window is too small, resulting in no matching.

Method used

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  • A cost aggregation method based on variable window
  • A cost aggregation method based on variable window
  • A cost aggregation method based on variable window

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Embodiment Construction

[0054] Due to the complexity of the binocular image and the particularity of the local algorithm, the cost aggregation method is one of the research focuses of the stereo matching algorithm. Due to the disadvantages of the variable window, the present invention proposes a cost aggregation method that first classifies the pixels and uses different matching window construction algorithms for matching according to the actual situation.

[0055] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0056] The cost aggregation method based on variable windows, the steps are as follows:

[0057] Step 1: at first, adopt canny edge algorithm to carry out edge extraction to image and obtain the point on the edge position;

[0058] Step 2: Second, take the other pixels on the image except the edge position as the internal points of the image, and use the four-neighborhood connection method to construct the connected domai...

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Abstract

The invention discloses a cost aggregation method based on a variable window. The method comprises the following steps: 1. Firstly, an image edge is extracted by using a canny edge algorithm to obtaina point on the edge position; 2, other pixel points on that edge position of the image are taken as the internal points of the image, and the connected region of the internal points of the image is constructed by adopting a four-neighborhood connecting mode; Step 3: In addition, a matching window for the points on the edge position and a matching window for the internal points of the image are respectively constructed for the points on the edge position and the internal points of the image. The invention effectively avoids the serious 'foreground dilation' phenomenon when the fixed window isused for cost aggregation in the prior art, and the problems that a plurality of windows with different shapes cannot adapt to the complex and changeable image changes and mismatch.

Description

technical field [0001] The present invention relates to the technical field of stereo matching, in particular to a variable window-based cost aggregation method, in particular to a variable window-based cost aggregation method for stereo matching. Background technique [0002] In recent years, the research and application of 3D (Three Dimension) vision has developed rapidly, especially in the fields of 3D reconstruction, 3D detection, and robot vision navigation. The key to these advancements is the emergence of stereo vision technology, which uses optical means to obtain one or more images, and uses image processing algorithms to restore the geometric relationship and three-dimensional shape of the object being photographed, thereby obtaining the three-dimensional coordinates of the object. [0003] In the stereo vision technology, the passive binocular stereo vision system plays a pivotal role in the entire 3D vision field because of its simple equipment, easy to build, no...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/13G06T5/00
CPCG06T7/13G06T5/70
Inventor 董学广杨艺张勇
Owner 深圳市凌云视迅科技有限责任公司