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Disparity map enhancement method based on RGB and DVS image fusion in high dynamic range scene

A technology of high dynamic range and image fusion, which is applied in the field of robot perception, can solve the problems of underexposure, overexposure, and the reduction of the accuracy of disparity maps, and achieve the effects of improving accuracy, enhancing edge information, and improving quality

Active Publication Date: 2021-02-23
SUN YAT SEN UNIV
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Problems solved by technology

However, this invention is only suitable for high-quality images with low dynamic range. In scenes with a large dynamic range such as tunnel entrances and exits, the images generated by the camera will have underexposure and overexposure problems. The accuracy of the disparity map estimated by this invention will greatly reduce

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  • Disparity map enhancement method based on RGB and DVS image fusion in high dynamic range scene
  • Disparity map enhancement method based on RGB and DVS image fusion in high dynamic range scene
  • Disparity map enhancement method based on RGB and DVS image fusion in high dynamic range scene

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[0050] The accompanying drawings are for illustrative purposes only, and should not be construed as limiting the present invention; in order to better illustrate this embodiment, certain components in the accompanying drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art It is understandable that some well-known structures and descriptions thereof may be omitted in the drawings. The positional relationship described in the drawings is for illustrative purposes only, and should not be construed as limiting the present invention.

[0051] Such as figure 1 As shown, a disparity map enhancement method based on fusion of RGB and DVS images in a high dynamic range scene includes the following steps:

[0052] S1. Deploy the binocular RGB camera and DVS camera, and calibrate the binocular RGB camera and DVS camera;

[0053] S2. Collect RGB images of binocular cameras and DVS images in the scene, and perform m...

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Abstract

The invention belongs to the field of robot perception, and particularly relates to a disparity map enhancement method based on RGB and DVS image fusion in a high dynamic range scene. The method comprises the following steps: S1, deploying a binocular RGB camera and a DVS camera, and calibrating the binocular RGB camera and the DVS camera; s2, collecting an RGB image and a DVS image of a binocularcamera in a scene, and performing multi-scale weighted fusion after registration; s3, generating an HDR image for computer vision for the fused image; and S4, based on the HDR image generated in thestep S3, using an improved binocular stereo matching algorithm SGM to generate a disparity map. In a scene with a large imaging dynamic range such as a tunnel, the problems of under exposure and highexposure of a camera are solved, the quality of a generated image is improved, and meanwhile, for the problems of discontinuity and instability of an image edge region, edge detail information is enriched as much as possible by introducing other information sources, and the accuracy of the finally generated disparity map at the edge of the image is improved.

Description

technical field [0001] The invention belongs to the field of robot perception, and more specifically relates to a disparity map enhancement method based on fusion of RGB and DVS images in a high dynamic range scene. Background technique [0002] HDR (High-Dynamic Range) is a high dynamic range image, which provides more dynamic range and image detail information than ordinary images. Through the LDR (Low-Dynamic Range low dynamic range image) of different exposure time, and use the LDR image corresponding to the best detail of each exposure time to synthesize the HDR image. [0003] Camera calibration is a method to determine the parameters of the sensor imaging geometric model, which determines the relationship between the three-dimensional geometric position of the surface point of the space object and its corresponding pixel point in the image. There are two types of camera calibration: internal reference calibration and external reference calibration. Internal paramete...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T5/00G06T5/50G06T7/13G06T7/80
CPCG06T5/50G06T7/13G06T7/80G06T2207/20016G06T2207/20221G06T5/90Y02T10/40
Inventor 黄凯孟浩李博洋
Owner SUN YAT SEN UNIV
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