计算机工程 ›› 2012, Vol. 38 ›› Issue (3): 159-162.doi: 10.3969/j.issn.1000-3428.2012.03.054

• 人工智能及识别技术 • 上一篇    下一篇

一种行星车视觉系统立体匹配算法

王怀超1,2,顾晓东1,陈晓敏1   

  1. (1. 中国科学院空间科学与应用研究中心,北京 100190;2. 中国科学院研究生院,北京 100049)
  • 收稿日期:2011-07-20 出版日期:2012-02-05 发布日期:2012-02-05
  • 作者简介:王怀超(1984-),男,博士研究生,主研方向:图像压缩,视觉导航;顾晓东,副研究员;陈晓敏,研究员
  • 基金项目:
    国家自然科学基金资助项目(60805030)

Stereo Matching Algorithm for Planetary Rover Vision System

WANG Huai-chao 1,2, GU Xiao-dong 1, CHEN Xiao-min 1   

  1. (1. Center for Space Science and Applied Research, Chinese Academy of Sciences, Beijing 100190, China; 2. Graduate University of Chinese Academy of Sciences, Beijing 100049, China)
  • Received:2011-07-20 Online:2012-02-05 Published:2012-02-05

摘要: 针对行星车视觉导航系统,提出一种立体匹配算法。使用Census变换得到一组二进制码流,通过色彩权重和距离权重完成权重计算,采用双通道的方法累加匹配代价。实验结果表明,该算法在时钟频率为100 MHz的情况下,每秒可处理2幅23帧左右的图像,平均误匹配率低于6%。

关键词: 行星车, 视觉导航, 立体匹配, 自适应权重, Census变换

Abstract: Aiming at the application of planetary rover vision system, this paper proposes a stereo matching algorithm. It uses Census transformation to get a group of binary code flow, gets through the colour weight and distance weight to complete weight calculating, and uses the method of double channel to accumulate the matching the price. Experimental results show that this algorithm can process 23 frames stereo images per second at 100 MHz, and the average error rate is lower than 6%.

Key words: planetary rover, vision navigation, stereo matching, adaptive weight, Census transformation

中图分类号: