Stereo matching method and system for space-time hybrid modulation

Abstract

The invention discloses a stereo matching method and system of space-time hybrid modulation, which generates a preset three-frame color grid image transformed with time, and projects it onto the surface of an object to be measured; the image collected by the first camera is used as the target image, and the second camera Collect the image as the reference image; select the matching cost function under the spatial constraints; calculate the matching cost of the target image and the reference image under the joint constraints of time and space windows, traverse the entire projection area to obtain the matching cost matrix of the candidate points; get the first camera and the disparity maps of the two images collected by the second camera; respectively calculate the disparity map of the image collected by the first camera and the disparity map of the image collected by the second camera; refine the disparity map to obtain the final disparity map and complete the spatio-temporal mixing Modulated stereo matching, the present invention increases the flexibility of spatial window selection while improving the matching accuracy of stereo matching in areas with weak textures.

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...

AI Technical Summary

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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