Parallax image fusion method of multiband stereo camera

A technology of stereo camera and fusion method, which is applied in the fields of image processing and computer vision, can solve the problems of increasing the amount of calculation and resource consumption, and difficulty in applying actual products, etc., to avoid uncertainty and error, multi-band equipment, and high calculation efficiency Effect

Active Publication Date: 2020-06-09
DALIAN UNIV OF TECH +1
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Problems solved by technology

The above method matches binocular cameras with different bands separately, and then maps the images into three-dimensional information according to the matching results, and performs fusion on the point cloud level, which greatly increases the amount of calculation and resource consumption, and is difficult to apply to actual products

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  • Parallax image fusion method of multiband stereo camera
  • Parallax image fusion method of multiband stereo camera
  • Parallax image fusion method of multiband stereo camera

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Embodiment Construction

[0022] 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 use 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:

[0023] figure 1 for the overall process of the program.

[0024] 1. The specific operation of the calibration and joint calibration module is as follows:

[0025] 1. Carry out the calibration of each lens and the joint calibration of the respective systems for the visible light binocular camera and the infrared binocular camera respectively

[0026] 1.1 Use Zhang Zhengyou's calibration method to calibrate each infrared ca...

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Abstract

The invention discloses a parallax image fusion method of a multiband stereo camera, and belongs to the field of image processing and computer vision. According to the method for obtaining the pixel parallax confidence information by utilizing the intermediate output of binocular parallax estimation, the confidence information can be used for judging the parallax confidence of the position and assisting parallax fusion. The confidence coefficient obtaining process makes full use of the calculated intermediate output, can be conveniently embedded into the traditional parallax estimation process, and is high in calculation efficiency, simple and easy to operate. According to the multi-band stereo camera parallax fusion method provided by the invention, the parallax image participating in fusion is obtained according to the binocular image of the corresponding band, the information of each band is fully utilized, Meanwhile, the introduction of uncertainty and errors is avoided. And accurate information of each waveband can be selected according to a strategy of fusing the parallax according to the confidence, so that the purpose of advantage complementation of multi-waveband equipmentis achieved.

Description

technical field [0001] The invention belongs to the field of image processing and computer vision, relates to multi-modal binocular parallax estimation and confidence degree calculation, and performs fusion and depth calculation of parallax information obtained by multi-band sensors. In particular, the invention relates to a confidence calculation method and a parallax image fusion method of a multi-band stereo camera. 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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T5/50G06T5/00G06T7/55G06T7/80
CPCG06T5/50G06T5/002G06T7/55G06T7/80G06T2207/20221G06T7/593G06T7/85G06T2207/10048G06T5/20G06F17/18G06F17/12G06T2207/20228
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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