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Disparity map construction using guide nodes

A disparity map and node technology, applied in the field of stereo vision, can solve problems such as disparity map waveform distortion

Pending Publication Date: 2022-07-19
AMBARELLA INT LP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Building a disparity map with pixel-level accuracy can lead to waveform distortion in the disparity map

Method used

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  • Disparity map construction using guide nodes
  • Disparity map construction using guide nodes
  • Disparity map construction using guide nodes

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Embodiment Construction

[0021] Embodiments of the present invention include providing disparity map construction using guide nodes that can (i) construct disparity maps rapidly; (ii) construct disparity maps accurately; (iii) construct disparity maps at sub-pixel level; (iv) Eliminate waveform distortion in stereo vision; (v) enable real-time stereo vision with low power consumption; (vi) use guide nodes to achieve local range matching for surrounding pixels; (vii) pair is used to calculate the relationship between the reference image and the target image; (viii) 20-30 times faster than block matching operations by reducing computational complexity; (ix) performing a full range search on the center pixel of the guide node and Surrounding pixels near the peak location perform a local range search; and / or (x) are implemented as one or more integrated circuits.

[0022] Embodiments of the present invention may be configured to operate in a system that implements stereoscopic vision. Disparity maps can ...

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Abstract

An apparatus includes an interface and a processor. The interface may be configured to receive pixel data. The processor may be configured to: generate a reference image and a target image from the pixel data; performing parallax operation on the reference image and the target image; and constructing a disparity map in response to the disparity operation. The parallax operation may include: selecting a guide node from pixel data, the guide node including a pixel and a plurality of surrounding pixels; determining a peak position for the pixel by performing a full range search; calculating a shift offset peak position for each of the surrounding pixels by performing a block matching operation in a local range near the peak position; and generating values in the disparity map for the pixel data in response to the peak position for the pixel and the shift offset peak position for each of the surrounding pixels.

Description

technical field [0001] The present invention relates generally to stereo vision, and more particularly to a method and / or apparatus for implementing disparity map construction using guide nodes. Background technique [0002] Stereoscopic vision is a well-known technology. Stereoscopic vision utilizes pairs of cameras located at known distances and angles relative to each other. By comparing the disparity between the two images generated by the camera pair using the known distance and angle between the cameras, valuable information such as distance to an object can be determined. Stereo vision is widely used in technologies such as 3D reconstruction, autonomous driving, stereo object recognition, etc. [0003] Disparity maps are a widely popular option for displaying stereoscopic vision. A disparity map is a 2D vector that shows the difference in horizontal axis positioning between a pixel in the reference image and a matching pixel in the target image. For example, the t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/593G06V20/60G06V10/44G06V10/764G06V10/82G06K9/62G06T5/00G06N3/04G06N3/08G06N20/00
CPCG06T7/593G06N20/00G06N3/08G06T2207/10021G06T2207/20081G06T2207/20228G06N3/045G06F18/24G06T5/80H04N13/239H04N2013/0081H04N13/246H04N13/128
Inventor 任可可何志
Owner AMBARELLA INT LP
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