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Binocular stereo vision disparity map post-processing method and device

A technology of binocular stereo vision and disparity map, applied in the field of image processing

Active Publication Date: 2020-12-11
深兰人工智能芯片研究院(江苏)有限公司
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Problems solved by technology

[0003] Among them, due to the influence of factors such as noise, illumination, occlusion, and weak texture areas in the actual environment, there will be some abnormal points on the disparity map obtained by stereo matching

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  • Binocular stereo vision disparity map post-processing method and device
  • Binocular stereo vision disparity map post-processing method and device
  • Binocular stereo vision disparity map post-processing method and device

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Embodiment Construction

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0026] figure 1 It is a flow chart of the method for post-processing the binocular stereo vision disparity map according to the embodiment of the present invention.

[0027] Such as figure 1 As shown, the binocular stereo vision disparity map post-processing method in the embodiment of the present invention may include the following steps:

[0028] S1. Generate a disparity map according to the acquired initial left and right image pairs.

[0029] Specifical...

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Abstract

The invention provides a binocular stereo vision disparity map post-processing method and device, and the method comprises the following steps: generating a disparity map according to an obtained initial left and right image pair; generating a texture filtering template according to the initial left image / right image, and performing texture filtering on the disparity map according to the texture filtering template; carrying out speckle suppression on the filtered disparity map; carrying out hole filling on the disparity map subjected to the speckle suppression; and performing median filteringon the disparity map subjected to the hole filling. According to the method, post-processing of abnormal points in different types of disparity maps can be realized.

Description

technical field [0001] The present invention relates to the technical field of image processing, in particular to a binocular stereo vision disparity map post-processing method, a binocular stereo vision disparity map post-processing device, a computer device, a non-temporary computer-readable storage medium and A computer program product. Background technique [0002] Stereo matching is the most difficult and important step in the process of realizing binocular stereo vision technology. The current mainstream stereo matching algorithms include global stereo matching algorithm, semi-global stereo matching algorithm and local stereo matching algorithm. Among them, the local stereo matching algorithm has been widely used because of its high precision and low time consumption. The main steps of the local stereo matching algorithm include: cost calculation, cost aggregation, disparity calculation, and disparity map post-processing. [0003] Among them, due to the influence of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T5/00G06T5/50
CPCG06T5/50G06T2207/20032G06T5/77G06T5/70
Inventor 陈海波罗艳
Owner 深兰人工智能芯片研究院(江苏)有限公司
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