Method and device for obtaining disparity map based on fpga

Abstract

The invention discloses a method and a device for acquiring a parallax map based on an FPGA, which are used for solving the technical problem that the accuracy of the acquired parallax map is low in the prior art. Includes calculating the left eye image and the right eye image collected at the same time with stereo matching algorithm in the set disparity range to obtain the integer level disparityvalue corresponding to the minimum matching cost of each pair of matching points in the left eye image and the right eye image; By linear interpolation, Discretization is carried out between two parallax values adjacent to the integer level parallax value according to the set precision, and calculating a fractional matching cost corresponding to each disparity interpolation, wherein the disparityinterpolation corresponding to the minimum fractional matching cost among all the fractional matching costs corresponding to the disparity interpolation is taken as a sub-pixel disparity value of each matching point to obtain a sub-pixel disparity map of a left-eye map and a right-eye map; Where the setting accuracy is inversely proportional to the n-th power of 2 and n is the number of data bitsused for storing decimal data in the FPGA.

Description

technical field [0001] The present invention relates to the field of image processing, in particular to a method and a device for acquiring disparity maps based on FPGA. Background technique [0002] The principle of binocular stereo vision is similar to that of the human eye. It obtains the position difference (parallax) of the target object in the two images through the left and right images, and then calculates the spatial coordinate information of the target object in the actual scene through the parallax. [0003] Generally, the magnitude of the parallax is related to the distance between the target object and the imaging device, and the farther the distance is, the smaller the parallax is. The process of obtaining parallax is called stereo matching, which will directly affect the measurement result of the spatial coordinate information of the target object. [0004] In order to obtain good stereo matching accuracy, the calculation amount in the process of obtaining th...

AI Technical Summary

Problems solved by technology

[0007] The present invention provides a method, a device and a storage medium for obtaining a disparity map based on an FPGA, so as to solve the technical problem of low accuracy of the disparity map obtained in the prior art

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