支撑点扩展快速立体匹配方法的设计与应用

周自维; 樊继壮; 李戈; 赵杰; 张赫

doi:10.3788/OPE.20132101.0207

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支撑点扩展快速立体匹配方法的设计与应用

信息科学 | 更新时间：2020-08-12

- 支撑点扩展快速立体匹配方法的设计与应用
- Design and application of fast matching method based on support points expansion
- 光学精密工程 2013年21卷第1期页码：207-216
- 作者机构：
  
  哈尔滨工业大学机器人技术与系统国家重点实验室2.辽宁科技大学电子与信息工程学院
- 作者简介：
- 基金信息：
  
  非结构环境下仿生六足机器人感知信息处理机制与运动策略研究();哈尔滨市科技创新人才研究专向资金项目();哈尔滨工业大学科研创新基金()
- DOI：10.3788/OPE.20132101.0207
  中图分类号： TP391.4
- 收稿日期：2012-07-02，
  
  修回日期：2012-09-12，
  
  网络出版日期：2013-01-24，
  
  纸质出版日期：2013-01-15
- 稿件说明：
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周自维樊继壮李戈赵杰张赫. 支撑点扩展快速立体匹配方法的设计与应用[J]. 光学精密工程, 2013,21(1): 207-216

ZHOU Zi-wei FAN Ji-zhuang LI Ge ZHAO Jie ZHANG He. Design and application of fast matching method based on support points expansion[J]. Editorial Office of Optics and Precision Engineering, 2013,21(1): 207-216
周自维樊继壮李戈赵杰张赫. 支撑点扩展快速立体匹配方法的设计与应用[J]. 光学精密工程, 2013,21(1): 207-216 DOI： 10.3788/OPE.20132101.0207.

ZHOU Zi-wei FAN Ji-zhuang LI Ge ZHAO Jie ZHANG He. Design and application of fast matching method based on support points expansion[J]. Editorial Office of Optics and Precision Engineering, 2013,21(1): 207-216 DOI： 10.3788/OPE.20132101.0207.

摘要

为精确构建计算机立体视觉中的视差图，提出了一种快速全局优化匹配算法。该算法采用吉布斯随机场模型描述空间点与其邻域之间的关系，由改进的Graph Cuts方法对空间点的邻域进行匹配来获取场景的致密视差图。首先，计算出一组具有明确匹配关系的稀疏匹配点，将这些匹配点命名为支撑点；然后，对每一个支撑点的邻域进行扩展，采用改进的Graph Cuts全局优化算法计算扩展后的邻域空间的匹配关系，并将满足一定匹配度的邻域点设置为新的支撑点。最后，重复上述步骤并逐级扩展，直至扩展出的匹配空间覆盖整个视图，进而获取待匹配图对的致密视差图。实验结果表明，该方法不仅对不同场景视差图的质量具有良好的一致性，而且匹配速度较快(匹配时间约为0.8~1.2 s)，大大高于其他传统的全局匹配算法。为体现本文算法的实际应用价值，以Smart Eye Ⅱ立体视觉试验台为测试平台，对真实场景进行了视差图构建，取得了良好的试验效果。

Abstract

To construct a high qualitative disparity space image in stereo vision

a fast global optimal matching algorithm based on Gibbs Random Field(GRF) model was proposed. In this algorithm

the relationship between a space point and its neighborhood was described by using the GRF

and an improved Graph Cut method was used to calculate the matching relationship of the neighborhoods and to obtain the density disparity space image of a scene. Firstly

a set of matching points with distinct matching relationship was calculated

and named them as support points. Then

these support points were taken for the center and their neighborhood spaces were expanded. The improved Graph Cuts algorithm was used to match the expanded neighborhood spaces

and then set the neighborhood points that meet matching degree as new support points. Repeating the above steps and extending progressively

until the expansion of the neighborhood covered the entire the scene image and the density disparity map of the image pair was obtain finally. Experimental results show that this method has good speed consistency on the disparity map of the different scenes

and the matching time is about 0.8-1.2 s. For reflecting the practical value of the algorithm

the proposed algorithm was adopted to construct the disparity map of a real scene on the binocular vision test bed Smart Eye Ⅱ

and good reconstruction results were obtained.

关键词

Keywords

references

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