Binocular vision stereo matching method and device based on homonymous mark points

A technology of marking points and stereo matching of the same name, which is applied in the field of computer vision research, can solve the problem that binocular stereo matching cannot be well achieved, and achieve the effect of eliminating false matching, strong generalization, and eliminating interference noise.

Pending Publication Date: 2020-04-17
ZHEJIANG FUTURE TECH INST JIAXING
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Problems solved by technology

[0005] The purpose of the embodiment of the present invention is to provide a binocular vision stereo matching method and device based on the same-named markers to solve the problem that the existing methods cannot well realize binocular stereo matching in binocular vision

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Embodiment Construction

[0027] The implementation of the present invention will be illustrated by specific specific examples below, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0028] In the following description, for purposes of illustration rather than limitation, specific details, such as specific system architectures, interfaces, and techniques, are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0029] At present, there is no good solution to the ambiguity matching problem existing in the matching process of the same-named ma...

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Abstract

The embodiment of the invention discloses a binocular vision stereo matching method and device based on homonymous mark points, and relates to the technical field of computer vision research, and themethod comprises the steps: obtaining left and right camera images; identifying homonymous mark points in the left and right camera images, and calculating image points of the homonymous mark points;calculating a corresponding epipolar line of each homonymous mark point in the left camera image in the right camera image; calculating a point-line distance between an image point and an epipolar line in the right camera image, and obtaining candidate matching points according to whether the point-line distance meets epipolar line geometric constraints or not; determining an image point matchingpair according to the number of the image points in the left and right camera images and the number of the candidate matching points, by constructing image descriptors of the image points, and according to the similarity between the image descriptors; and performing spatial geometry verification on the image point matching pair. According to the embodiment of the invention, the corresponding relation between the image points on the left and right camera images in the binocular vision system can be quickly and accurately found, the ambiguous matching problem is effectively solved, and interference noise and wrong matching are eliminated.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of computer vision research, and in particular to a method and device for binocular vision stereo matching based on marked points with the same name. Background technique [0002] Binocular vision is one of the most important research fields of machine vision, which is widely used in robot navigation, three-dimensional measurement and virtual reality, and binocular stereo matching is one of the most important problems of binocular vision. Find matching point pairs in the left and right views of the binocular camera, and then use the parallax principle to calculate the depth information in the original scene. [0003] The same-named markers are special image key points with the same characteristics. Different from the feature points in traditional images, the same-named markers often exist in highly blurred, textureless or infrared images, due to the lack of sufficient local texture ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/593G06T7/80G06T7/136G06T7/187G06T5/40
CPCG06T7/593G06T7/85G06T7/136G06T7/187G06T5/40G06T2207/10048G06T2207/10012
Inventor 刘威张新邵航黄海亮
Owner ZHEJIANG FUTURE TECH INST JIAXING
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