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Local stereo matching method

A stereo matching, local technology, applied in image data processing, instruments, calculations, etc., can solve problems such as difficult to reflect the real parallax of the image, loss of color information, loss of useful information, etc.

Active Publication Date: 2021-02-09
CHANGAN UNIV
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Problems solved by technology

The former ignores the importance of color information in the color image, and the conversion will lose part of the color information; the latter does not make full use of the color information carried by the R, G, and B channels, which will cause the loss of useful information, so these methods are difficult. Reflects the real disparity of the image, and has a certain impact on the initial disparity map obtained by the later cost aggregation

Method used

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Embodiment Construction

[0096] Such as figure 1 A kind of local stereo matching method shown, this method comprises the following steps:

[0097] Step 1. Image acquisition and epipolar correction:

[0098] Step 101, the binocular camera includes a left camera and a right camera, the left camera obtains a left image and sends it to the computer, and at the same time, the right camera obtains a right image and sends it to the computer, and the computer obtains the left image and the right image;

[0099] Step 102, the computer uses the epipolar line correction algorithm to perform epipolar correction on the left image and the right image respectively, to obtain the left corrected image and the right corrected image; wherein, the left corrected image I L and right corrected image I R Both are color images, and the left corrected image I L and right corrected image I R The number of rows is n, the left corrected image I L and right corrected image I R The number of columns is m;

[0100] Step 103,...

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Abstract

The invention discloses a local stereo matching method. The method comprises the following steps of 1, image acquisition and epipolar correction; 2, RGB three-component extraction; 3, acquisition of color matching cost; 4, acquisition of gradient matching cost; 5, acquisition of a matching cost function; 6, acquisition of a judgment window area; 7, aggregation of matching cost; 8, parallax optimization. The method is simple in step, local matching is carried out based on the color image, color information of the color image is effectively utilized, the accuracy of stereo matching is improved,the disparity map is optimized, the accuracy of the disparity map is improved, and subsequent depth information analysis of the disparity map is facilitated.

Description

technical field [0001] The invention belongs to the technical field of stereo matching, and in particular relates to a local stereo matching method. Background technique [0002] Stereo matching is a key technology in binocular stereo vision. The disparity map is obtained by establishing a one-to-one correspondence between the left and right image pixels, and then the depth information is obtained by calculating the disparity information based on the similarity principle of mathematical triangles. In recent years, with the development of technology, various high-precision and high-efficiency stereo matching algorithms have been proposed. The existing stereo matching algorithms are divided into global stereo matching and local stereo matching. The local algorithm is less computationally intensive and faster than the global algorithm. , but at present, when performing partial matching based on a color image, the first step is to convert the color image into a grayscale image a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/55
CPCG06T7/55G06T2207/10024G06T2207/10028G06T2207/20228
Inventor 荆树旭翟晓惠柳有权卢鹏宇刘佳玲
Owner CHANGAN UNIV
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