Parallax image acquisition method, device and apparatus and control system

Abstract

The invention discloses a parallax image acquisition method, device and apparatus and a control system, belonging to the technical field of image processing, and is used for improving the accuracy ofdisparity prediction. The method comprises the steps of performing feature extraction on a left eye image and a right eye image of a shot object layer by layer through M cascaded feature extraction layers to obtain a left eye image feature set and a right eye image feature set of each layer; wherein M is a positive integer greater than or equal to 2; constructing an initial disparity map based onthe left-eye feature map set and the right-eye feature map set extracted by the Mth feature extraction layer; and from the first layer, iteratively updating the disparity map through the left-eye feature map set and the right-eye feature map set extracted by each feature extraction layer in sequence until a final disparity map is obtained based on the disparity map subjected to the first-layer iteration updating.

Description

technical field [0001] The present invention relates to the technical field of image processing, in particular to a disparity map acquisition method, device and equipment, and a control system. Background technique [0002] Binocular stereo vision is a branch of artificial intelligence (AI). It is a method based on the principle of parallax and obtaining three-dimensional geometric information of objects from multiple images to simulate the visual perception of the human eye. It is a kind of machine vision. important form. The binocular stereo vision system generally uses a binocular camera to obtain two images of the object under test at the same time from different angles, or it can also take two images of the object under test at different angles through a monocular camera, namely the left eye image and the right eye image, and Based on the parallax principle, the three-dimensional geometric information of the object is recovered, and the three-dimensional outline and po...

AI Technical Summary

Problems solved by technology

[0003] It can be seen that the accuracy of parallax prediction directly affects the judgment of the object distance, which affects the recovery of the three-dimensional geometric information of the object, and then affects the control accuracy of the control system using the parallax prediction technology. Therefore, how to more accurately predict the parallax It is a technical issue that needs to be considered at present

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