Depth estimation acceleration method of multiband stereo camera

A technology of stereo camera and depth estimation, which is applied in the fields of image processing and computer vision, can solve problems such as the influence of matching accuracy, the increase of matching cost, and the change of the geometric relationship between matching pixels, so as to improve the speed of parallax estimation, reduce the matching error, and ensure Computational Efficiency Effects

Pending Publication Date: 2020-05-29
DALIAN UNIV OF TECH +1
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Problems solved by technology

However, the above-mentioned method of fusing visible light images and infrared images at the two-dimensional image level restores the general structure and pixel intensity information of the images, but the errors and uncertainties in the fusion process will change the matching pixel pairs. Geometric relationship, in addition, due to the uncertain factors of fusion, small changes in pixel intensity and small changes in local structure will lead to a larger matching cost between corresponding pixels, which will affect the matching accuracy

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  • Depth estimation acceleration method of multiband stereo camera
  • Depth estimation acceleration method of multiband stereo camera
  • Depth estimation acceleration method of multiband stereo camera

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[0020] Based on the multi-band sensor equipment and the binocular parallax estimation method, the present invention fuses the disparity maps obtained based on the multi-modal equipment, and then calculates the distance information according to the principle of triangulation and the fused disparity, so as to utilize different band equipment in different environments imaging advantages. Taking the depth estimation of a pair of visible light binocular cameras and a pair of infrared binocular cameras as an example, the specific implementation plan is as follows:

[0021] figure 1 for the overall process of the program.

[0022] The first step is to carry out the calibration of each lens and the joint calibration of their respective systems for the visible light binocular camera and the infrared binocular camera respectively;

[0023] 1.1 Use Zhang Zhengyou's calibration method to calibrate each infrared camera and visible light camera separately, and obtain internal parameters s...

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Abstract

The invention belongs to the field of image processing and computer vision, and discloses a depth estimation acceleration method of a multiband stereo camera. In a depth estimation process and a binocular stereo matching process of each waveband, through compressing the matching image, on one hand, a parallel equipotential error brought by binocular image correction is counteracted, so that matching is more accurate, and on the other hand, the calculation overhead is reduced. Besides, before cost aggregation, sparse matching is carried out by carrying out transverse compression on the cost graph, so that the calculation overhead is reduced again. And the disparity maps obtained in different modes are fused to obtain all-weather, more complete and more accurate depth information.

Description

technical field [0001] The invention belongs to the field of image processing and computer vision, and relates to multi-band stereoscopic depth estimation and an acceleration method thereof. Specifically, it relates to a method for speeding up the depth estimation process for multi-band stereo cameras. Background technique [0002] The development of binocular stereo vision technology based on visible light band is relatively mature. Visible light imaging has rich contrast, color, and shape information, so it can accurately and quickly obtain matching information between binocular images, and then obtain scene depth information. However, imaging in the visible light band has its defects. For example, in strong light, fog, rain, snow or night, the imaging quality is greatly reduced, which affects the matching accuracy. Therefore, using the complementarity of different band information sources to establish a multi-band stereo vision system is an effective way to realize spati...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/50
CPCG06T7/80G06T7/50G06T2207/20228G06T2207/20032G06T2207/10028G06T7/593G06T2207/10012G06T2207/10024G06T2207/10048G06T7/596G06T7/85
Inventor 仲维张宏李豪杰王智慧刘日升樊鑫罗钟铉李胜全
Owner DALIAN UNIV OF TECH
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