基于支撑点的立体匹配

张学贺; 赵杰; 李戈; 侯珍秀

doi:10.3788/OPE.20152313.0546

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基于支撑点的立体匹配

更新时间：2020-08-13

- 基于支撑点的立体匹配
- Stereo matching based on support points
- 光学精密工程 2015年23卷第10z期页码：545-552
- 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,黑龙江哈尔滨,150080
- 作者简介：
- 基金信息：
  
  国家自然科学基金资助项目(No.61473104)();机器人技术与系统国家重点实验室(哈尔滨工业大学)自主研究课题资助项目(No.SKLRS201302C)();中央
- DOI：10.3788/OPE.20152313.0546
  中图分类号： TP391.4
- 收稿日期：2015-04-17，
  
  修回日期：2015-05-19，
  
  纸质出版日期：2015-11-14
- 稿件说明：
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张学贺, 赵杰, 李戈等. 基于支撑点的立体匹配[J]. 光学精密工程, 2015,23(10z): 545-552

ZHANG Xue-he, ZHAO Jie, LI Ge etc. Stereo matching based on support points[J]. Editorial Office of Optics and Precision Engineering, 2015,23(10z): 545-552
张学贺, 赵杰, 李戈等. 基于支撑点的立体匹配[J]. 光学精密工程, 2015,23(10z): 545-552 DOI： 10.3788/OPE.20152313.0546.

ZHANG Xue-he, ZHAO Jie, LI Ge etc. Stereo matching based on support points[J]. Editorial Office of Optics and Precision Engineering, 2015,23(10z): 545-552 DOI： 10.3788/OPE.20152313.0546.

摘要

为了使立体匹配算法能够兼具较高运算效率和良好的视差匹配精度

提出一种基于稳定支撑点的立体匹配算法。该算法利用Canny最优边缘算子检测图像的边缘点作为"支撑点"

应用Delaunay三角剖分算法将整个待匹配视图划分成一系列相连的二维三角面片;然后以三角形作为匹配基元构建视差模型进行初始视差估计;最后根据三角形共用顶点的特性修正视差值

进而得到最终的视差图。使用Middlebury算法测试平台提供的立体图对算法进行了实验验证。结果表明:本文算法的定位精度高

误匹配率低

匹配时间约为1 s

视差图的匹配精度约为93%

在获取高精度视差图的同时具备良好的匹配速度

为立体匹配算法的实际应用奠定了良好的基础

在基于双目视觉的路径导航系统中也有着良好的应用前景。

Abstract

A stereo matching method based on stable support points was proposed to improve its computing speed and disparity accuracy. With the method

a canny edge operator was used to detect the edge points of the image and act them as 'supporting points. Then those points were processed by a Delaunay triangulation algorithm to divide the whole image into a series of linked triangular facets. These facets were used as matching elements to compose the basic modules to perform a rude estimation of image disparity. Finally

according to the triangular property of shared vertices

the estimated disparity was refined and the disparity map was obtained. The method was tested by Middlebury stereo pairs on the platform

Experimental results show that the time cost of the method is about 1 s and the matching accuracy is 93% as compared with ground truth map. The proposed method has higher positioning accuracy and lower error mathing rate

and improves both the computing speed and computing accuracy. It forms a steady foundation and good application prospect for robot's path planning system with stereo camera devices.

关键词

Keywords

references

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