摘要
立体匹配是双目立体视觉的关键步骤和难点问题,制约着双目视觉系统的应用。图像的噪声、遮挡、弱纹理等问题使得匹配精度低。为了解决这些难点问题,文中提出了一种基于激光散斑的立体匹配算法。首先根据激光散斑特点,提出了一种基于梯度方向的匹配代价计算方法;然后将半全局匹配和导向滤波器串联起来进行代价聚合,以满足实时性要求和提高算法对倾斜平面的适应能力;最后,根据匹配代价的平均值与最小值,提出了一种可靠性检验方法,以处理遮挡和物体边缘视差不连续的问题。文中匹配算法在物流行业中的应用结果表明,该算法可以实时测量包裹尺寸,测量精度可以达到±5%。
Stereo matching is the key and challenging problem of binocular stereo vision and it restricts the application of binocular stereo vision.Noises,obstacles and textureless region reduce the matching accuracy.In this paper,a laser speckle based stereo matching algorithm was proposed to solve these problems.Based on the gradient orientation of each pixel,a new matching cost function was proposed.Then semi-global matching and guided filter were cascaded to aggregate matching cost.This method can meet the real-time requirements and improve the adaptive capacity of algorithm for slant plane.Finally,a confidence detection method was proposed to refine the disparity in obstacle regions and the edges regions based on the mean value and minimum value of the aggregated matching cost.Its application in logistics industry shows that the proposed algorithm can be used to measure the size of pac-kage and the accuracy can reach to±5%.
作者
潘创
刘乙奇
黄道平
PAN Chuang;LIU Yiqi;HUANG Daoping(School of Automation Science and Engineering,South China University of Technology,Guangzhou 510640,Guangdong,China)
出处
《华南理工大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2020年第8期22-28,共7页
Journal of South China University of Technology(Natural Science Edition)
基金
国家自然科学基金资助项目(61873096,61673181)
广州市科技计划项目(201804010256)。
关键词
激光散斑
导向滤波器
半全局匹配
置信度检验
laser speckle
guided filter
semi-global matching
confidence detection
