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Space-time hybrid modulation stereo matching method and system

A technology of stereo matching and mixed modulation, which is applied in image data processing, measuring devices, instruments, etc., can solve problems such as the difficulty of selecting spatial windows, and achieve the effects of solving difficult selection, reducing the probability of mismatching, and improving accuracy

Active Publication Date: 2021-01-08
XI AN JIAOTONG UNIV
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Problems solved by technology

[0006] The technical problem to be solved by the present invention is to provide a space-time mixed modulation stereo matching method and system for the deficiencies in the above-mentioned prior art, by adding the feature of multi-frame color coding to the object, and then introducing The constraints of the time window improve the matching accuracy in the weak texture area, reduce the uncertainty in the matching process, and effectively solve the problem of difficult selection of the spatial window in the cost calculation

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Embodiment Construction

[0066] The invention provides a stereo matching method and system of space-time mixed modulation, which includes projecting multi-frame color grid images to the object to be measured, collecting corresponding left and right perspective images, selecting a matching cost function and calculating the time and space windows of the target image. The matching cost under common constraints is calculated to obtain the disparity map, and the disparity is refined. The purpose is to add active features to the object to be tested by projecting multi-frame color-coded images, and solve the problem of low matching accuracy of traditional stereo matching algorithms in weak texture areas. In addition, the flexibility of spatial window selection is improved and the problem of difficult spatial window selection is solved by simultaneously introducing the constraints of temporal and spatial windows to the matching cost function.

[0067] see Figure 4 with Figure 5 , the present invention is ...

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Abstract

The invention discloses a space-time hybrid modulation stereo matching method and system, and the method comprises the steps: generating a preset three-frame color grid chart which changes with time,and projecting the color grid chart to the surface of a to-be-measured object; wherein the first camera acquires an image as a target image, and the second camera acquires an image as a reference image; selecting a matching cost function under spatial constraints; calculating the matching cost of the target image and the reference image under the common constraint of time and space windows, and traversing the whole projection area to obtain a matching cost matrix of candidate points; obtaining disparity maps of the two images collected by the first camera and the second camera; respectively calculating a disparity map of the image acquired by the first camera and a disparity map of the image acquired by the second camera; carrying out refinement processing on disparity map to obtain a final disparity map, and completing stereo matching of space-time hybrid modulation. According to the invention, the matching precision of the three-dimensional matching in the weak texture area is improved, and the flexibility of spatial window selection is improved at the same time.

Description

technical field [0001] The invention belongs to the technical field of stereo vision measurement, and in particular relates to a stereo matching method and system of space-time mixed modulation. Background technique [0002] Stereo matching is one of the most important links in stereo vision measurement. It is basically to find the corresponding projection point of the three-dimensional object in the two-dimensional image from two images (stereo image pair) taken at different positions of the same object, and thus generate a disparity map. The obtained disparity map can finally obtain the three-dimensional information of the object through the three-dimensional reconstruction technology. At present, stereo vision measurement is widely used in 3D measurement, scene reconstruction, robot navigation, human-computer interaction and other fields. [0003] According to different optimization theories, stereo matching can be divided into global matching algorithm and local matchi...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/593G06T7/62G06T7/90G01B11/25
CPCG06T7/593G06T7/62G06T7/90G01B11/2545
Inventor 赵宏樊晨赵自新张航瑛李均祥
Owner XI AN JIAOTONG UNIV
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