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Stereoscopic matching optimization method and device, computer equipment and storage medium

A technology of stereo matching and optimization method, applied in the field of image processing, can solve the problems of inaccurate outline and distance of objects, mismatching and other problems, achieve stable and accurate obstacle detection, reduce mismatching, and improve the accuracy of ranging

Active Publication Date: 2019-11-19
CHANGSHA INTELLIGENT DRIVING INST CORP LTD
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Problems solved by technology

[0003] However, the traditional stereo matching algorithm has unavoidable mis-matching of some weak texture areas in the image, resulting in some road areas that are in contact with road objects (obstacles) being misdetected as foreground (obstacles), resulting in the final detected object Outlines and distances are inaccurate

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  • Stereoscopic matching optimization method and device, computer equipment and storage medium
  • Stereoscopic matching optimization method and device, computer equipment and storage medium
  • Stereoscopic matching optimization method and device, computer equipment and storage medium

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Embodiment Construction

[0036] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

[0037] The stereo matching optimization method provided by this application can be applied to a vehicle intelligent driving system. The vehicle intelligent driving system involves an industrial computer and a camera. The industrial computer obtains the image to be matched captured by the camera, performs edge filtering on the image to be matched, and obtains each image point The gradient information and texture strength of the image are filtered out, and the stereo matching is performed after the weak texture image points are filtered out, and the disparity image obtained a...

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Abstract

The invention relates to a stereo matching optimization method and device, computer equipment and a storage medium. The method comprises the steps of obtaining a first to-be-matched image and a secondto-be-matched image; determining the texture intensity of each image point according to the gradient information of each image point; removing a first type of image points in the first to-be-matchedimage to obtain a third to-be-matched image, the third to-be-matched image comprising a second type of image points and a third type of image points; according to each image point in the third to-be-matched image and the corresponding image point of the third to-be-matched image in the second to-be-matched image, obtaining a parallax image, wherein each image point in the parallax image is in one-to-one correspondence with each image point in the third to-be-matched image; and according to the texture intensity and the parallax value of each image point in the parallax image, smoothing the third type of image points in the parallax image. The method can improve the distance measurement precision while maintaining the contour and continuity of the object.

Description

technical field [0001] The present application relates to the technical field of image processing, in particular to a stereo matching optimization method, device, computer equipment and storage medium. Background technique [0002] Stereo vision has been widely used in intelligent driving scenarios. By performing stereo correction on the left and right images of the binocular camera, and then performing stereo matching, the 2D image can be converted into a 3D point cloud according to the camera parameters and the result of stereo matching, and then through the aggregation The class algorithm obtains the location information of obstacles. Obtaining a clear and continuous point cloud and accurate distance information are crucial for obstacle detection. [0003] However, the traditional stereo matching algorithm has unavoidable mis-matching of some weak texture areas in the image, resulting in some road areas that are in contact with road objects (obstacles) being misdetected ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/55
CPCG06T7/55G06T2207/10028G06T2207/30261
Inventor 万波彭美华马源杨凯斌
Owner CHANGSHA INTELLIGENT DRIVING INST CORP LTD
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