Title:
DEPTH PERCEPTION METHOD AND APPARATUS, AND DEPTH PERCEPTION DEVICE
Document Type and Number:
WIPO Patent Application WO/2020/114433
Kind Code:
A1
Abstract:
A depth perception method and apparatus, and a depth perception device. The method comprises: obtaining a first target image of a target region by means of a first photographing unit, and obtaining a second target image of the target region by means of a second photographing unit (101); performing image segmentation and correction on the first target image so as to obtain multiple first segmented images (102); performing image segmentation and correction on the second target image so as to obtain multiple second segmented images respectively corresponding to the multiple first segmented images (103); performing binocular matching on each group of segmented images to obtain a disparity map corresponding to each group of segmented images (105); and according to the disparity map and a calibration parameter, obtaining the depth information of a region corresponding to each group of segmented images (106). By means of the method, the edge depth detection precision is improved. Moreover, multiple groups of segmented images constitute multiple groups of binocular systems, and thus, the depth information in multiple directions can be perceived.
Inventors:
ZHENG XIN (CN)
Application Number:
PCT/CN2019/123072
Publication Date:
June 11, 2020
Filing Date:
December 04, 2019
Export Citation:
Assignee:
AUTEL ROBOTICS CO LTD (CN)
International Classes:
G06T7/593
Domestic Patent References:
| WO2008075271A2 | 2008-06-26 |
Foreign References:
| CN109658451A | 2019-04-19 | |||
| CN105787447A | 2016-07-20 | |||
| CN105277169A | 2016-01-27 |
Other References:
XIAO-QING LIU: "The Image Process and Location Technology Research Based on Binocular Vision", MASTER THESIS, no. 6, 15 June 2018 (2018-06-15), pages 1 - 76, XP009521581, ISSN: 1674-0246
Attorney, Agent or Firm:
LIUJIA CHINA IP LAW OFFICE (CN)
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