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计算机工程 ›› 2008, Vol. 34 ›› Issue (22): 198-200. doi: 10.3969/j.issn.1000-3428.2008.22.069

• 人工智能及识别技术 • 上一篇    下一篇

基于外极线分区的动态立体匹配算法

彭军舰1,2,刘 霁1,2,耿沿锋1,2,韩建达1,唐延东1   

  1. (1. 中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳 110016;2. 中国科学院研究生院,北京 100049)
  • 收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2008-11-20 发布日期:2008-11-20

Dynamic Stereo Matching Algorithm Based on Epipolar Line Segment

PENG Jun-jian1,2, LIU Ji1,2, GENG Yan-feng1,2, HAN Jian-da1, TANG Yan-dong1   

  1. (1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016; 2. Graduate University of Chinese Academy of Sciences, Beijing 100049)
  • Received:1900-01-01 Revised:1900-01-01 Online:2008-11-20 Published:2008-11-20

摘要: 基于区域的立体匹配算法仅针对支撑窗内的灰度信息定义匹配代价函数,导致在弱(无)纹理区域采用WTA优化出现歧义性。该文在外极线分区的基础上,改用区域作为匹配基元,针对歧义性区域,在代价函数中引入遮挡项和平滑项,并按照区域优先级的高低,动态匹配相应区域,获得可靠的视差信息。实验证明,该算法在保持实时性的同时对弱纹理区域处理具有有效性。

关键词: 立体视觉, 外极线分区, 视差图, 弱纹理区域

Abstract: In region-based stereo matching algorithm, the ambiguity parts, which can not be optimized by WTA, normally are considered as error matches and are discarded. This paper presents a novel approach based on epipolar line segment. It adopts 1-D region as match unit and introduces occlusion and smooth terms to construct a new match cost function, density disparity map can be obtained in virtue of static and dynamic matching strategy. Experimental results validate the algorithm to textureless regions and real-time.

Key words: stereo vision, epipolar line segment, disparity map, textureless region

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