Stereo matching method and device, terminal and storage medium

A stereo matching, pyramid technology, used in character and pattern recognition, instruments, computer parts, etc.

Pending Publication Date: 2020-11-03
CHINA ACADEMY OF SPACE TECHNOLOGY
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  • Claims
  • Application Information

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Problems solved by technology

However, the existing methods still cannot solve the mismatch problem of weak texture or no texture area well.

Method used

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  • Stereo matching method and device, terminal and storage medium
  • Stereo matching method and device, terminal and storage medium
  • Stereo matching method and device, terminal and storage medium

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Embodiment Construction

[0072] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are set forth in order to provide a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details.

[0073] In order to illustrate the technical solutions of the present invention, the following specific embodiments are used for description.

[0074] see figure 1 , a schematic diagram of the implementation process of an embodiment of the stereo matching method provided in this embodiment, the present invention can be applied in extraterrestrial celestial rover, such as lunar rover, Mars rover and other planetary rover; the present invention is also suitable for application in Robots, autonomous driving, etc. on Earth are detailed as follows:

[0075] Step S101...

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Abstract

The invention relates to the technical field of stereo matching, and provides a stereo matching method and device, a terminal and a storage medium, and the method comprises the steps: obtaining a leftimage and a right image through a binocular camera, constructing a left pyramid with a preset number of layers for the left image, and constructing a right pyramid with a preset number of layers forthe right image; carrying out bidirectional stereo matching on the higher-layer image of the left pyramid and the higher-layer image of the right pyramid to obtain a higher-layer left disparity map and a higher-layer right disparity map; according to the left disparity map of the higher layer, determining a disparity search range of each pixel in the image of the lower layer of the left pyramid, and according to the right disparity map of the higher layer, determining a disparity search range of each pixel in the image of the lower layer of the right pyramid; and carrying out bidirectional stereo matching on the lower-layer image of the left pyramid and the lower-layer image of the right pyramid according to the parallax search range to obtain a lower-layer left parallax image and a lower-layer right parallax image. According to the invention, the parallax search range is greatly reduced, and the convergence rate of parallax calculation is improved.

Description

technical field [0001] The present invention relates to the technical field of stereo matching, and in particular, to a stereo matching method, device, terminal and storage medium. Background technique [0002] Stereo matching technology is a research hotspot in computer vision. Its goal is to find the corresponding point of each pixel matching from two or more images obtained from the same scene. key steps. [0003] According to the constraints adopted by the stereo matching algorithm, it can be generally divided into local matching methods and global matching methods. The global matching method mainly uses the global optimization function to estimate the disparity. By establishing the global energy function, the disparity calculation is transformed into the solution of the minimized global energy function. The optimization algorithms such as graph cut, confidence propagation and dynamic programming are used to calculate the minimum global energy. The common method of the...

Claims

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Application Information

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IPC IPC(8): G06K9/62
CPCG06V10/7515
Inventor 李海超李志蒙波庞羽佳石佳卉张志民黄建斌黄龙飞韩旭王尹黄良伟
Owner CHINA ACADEMY OF SPACE TECHNOLOGY
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