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Binocular stereo parallax determination method and device, and unmanned aerial vehicle

A binocular stereo, unmanned aerial vehicle technology, applied in image data processing, instruments, calculations, etc., can solve problems such as depth map errors, false detections, and inaccurate obstacles, so as to improve accuracy and reduce false detection problems. Effect

Active Publication Date: 2019-12-03
SHENZHEN AUTEL INTELLIGENT AVIATION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, when a binocular camera device performs stereo matching on a binocular image, it mainly determines the corresponding points of all pixel points to be matched on the image to be matched in the matching image, and then determines according to the parallax between all pixel points to be matched and their corresponding points Depth map, in this way, all pixel points to be matched on the image to be matched are searched for corresponding points. If the pixel point to be matched is located in a scene with repeated texture or no texture, there are multiple corresponding points for the pixel point to be matched. It makes the search for the corresponding point error-prone, resulting in the wrong determination of the parallax between the pixel point to be matched and the corresponding point, which in turn leads to an error in the depth map, making the obstacle situation judged by the UAV inaccurate, and the problem of false detection occurs.

Method used

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  • Binocular stereo parallax determination method and device, and unmanned aerial vehicle
  • Binocular stereo parallax determination method and device, and unmanned aerial vehicle
  • Binocular stereo parallax determination method and device, and unmanned aerial vehicle

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Embodiment 1

[0091] see figure 1 , is an unmanned aerial vehicle 100 provided by one of the embodiments of the present invention. The unmanned aerial vehicle 100 is a quadrotor unmanned aerial vehicle, including: a fuselage 10, an arm 20, a power unit 30, a binocular camera device 40, a starting Drop frame 50, smart battery (not shown) and flight control system (not shown). The machine arm 20 , the binocular camera device 40 and the landing gear 50 are all connected to the fuselage 10 , the power unit 30 is arranged on the machine arm 20 , and the intelligent battery and the flight control system are arranged in the fuselage 10 . Wherein, the power device 30, the binocular camera device 40 and the landing gear 50 are all connected to the flight control system in communication, so that the flight control system can control the flight of the UAV 100 through the power device 30, and the flight control system can also control the binocular camera. The device 40 photographs the environment ahe...

Embodiment 2

[0154] see image 3 , is a schematic flowchart of a binocular stereo disparity determination method provided by one embodiment of the present invention, which is applied to a drone, the drone is the drone 100 described in the above embodiment, and the embodiment of the present invention The provided method is executed by the above-mentioned binocular camera device 40, and is used to improve the accuracy of determining the target parallax, thereby reducing the false detection problem of the drone in repetitive texture or texture-free scenes. The binocular stereo parallax determination method includes:

[0155] S100: Establish an image parallax space according to the image to be matched and the matching image.

[0156] Wherein, the image to be matched and the matching image are binocular images of the same scene at the same time captured by the binocular camera device at different viewing angles, so the size of the image to be matched and the matching image are the same, both M*...

Embodiment 3

[0205] The term "module" used below is a combination of software and / or hardware that can realize a predetermined function. Although the devices described in the following embodiments can be implemented in software, implementation in hardware, or a combination of software and hardware is also conceivable.

[0206] see Figure 5 , is a device for determining binocular stereo disparity provided by one of the embodiments of the present invention. The device is applied to a drone, and the drone is the drone 100 described in the above embodiment, and the embodiment of the present invention provides The function of each module of the device is performed by the above-mentioned binocular camera device 40, which is used to improve the accuracy of determining the target parallax, thereby reducing the false detection problem of the drone in repeated texture or texture-free scenes. The binocular stereo parallax determination device include:

[0207] The establishment module 200 is confi...

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Abstract

The invention relates to the technical field of stereo matching, in particular to a binocular stereo parallax determination method and a device, and an unmanned aerial vehicle. The method is applied to a binocular camera device of an unmanned aerial vehicle. The method comprises the steps of establishing an image parallax space according to a to-be-matched image and a matched image, the image parallax space comprises a pixel parallax space of each to-be-matched pixel point in the to-be-matched image, and the pixel parallax space of each to-be-matched pixel point comprises cost aggregation values of the to-be-matched pixel points under different parallax; according to the pixel parallax space of each to-be-matched pixel point, screening out the to-be-matched pixel point meeting a preset matching condition as a reference pixel point; and in the reference pixel points, according to the cost aggregation value of each reference pixel point under each parallax, determining the parallax corresponding to the cost aggregation value meeting a preset aggregation condition as a target parallax. In this way, the accuracy of determining the target parallax can be improved.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of stereo matching, and in particular to a method and device for determining binocular stereo disparity, and a drone. Background technique [0002] A drone is an unmanned aerial vehicle operated by a radio remote control device or its own program control device. In the process of UAV autonomous obstacle avoidance, the depth map of the environment in front of the UAV is generally obtained through the binocular camera device to determine the obstacle situation in the environment in front of the UAV, and then realize obstacle avoidance according to the determined obstacle situation . Wherein, the binocular camera device determines the depth map of the environment in front of the drone by using the captured binocular images for stereo matching. [0003] At present, when a binocular camera device performs stereo matching on a binocular image, it mainly determines the corresponding points o...

Claims

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Application Information

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IPC IPC(8): G06T7/33G06T5/00
CPCG06T7/33G06T2207/10012G06T2207/20228G06T5/80
Inventor 代真佑
Owner SHENZHEN AUTEL INTELLIGENT AVIATION TECH CO LTD