HYBRID COST BODY BINOCULAR STEREO MATCHING METHOD, DEVICE AND STORAGE MEDIUM

Title:

HYBRID COST BODY BINOCULAR STEREO MATCHING METHOD, DEVICE AND STORAGE MEDIUM

Document Type and Number:

WIPO Patent Application WO/2023/240764

Kind Code:

A1

Abstract:

The invention discloses a hybrid cost body binocular stereo matching method, a device and a storage medium. The method comprises: obtaining a left/right stereo image pair; performing multi-scale feature extraction on the left/right stereo image pair to obtain feature map pairs under a plurality of scales; according to the feature map pairs under each scale, constructing for each corresponding scale a 3D matching cost body and a 4D matching cost body; aggregating and compressing the 4D matching cost body until the size thereof is equal to that of the 3D matching cost body, to obtain a 4D compressed cost body; connecting the 4D compressed cost body with the 3D matching cost body of the corresponding scale to obtain hybrid matching cost bodies under a plurality of scales; and inputting the hybrid matching cost bodies into a 2D cost aggregation model for parallax calculation, obtaining a parallax map. By constructing multiple scales of 3D matching cost bodies and 4D matching cost bodies, the invention obtains hybrid matching cost bodies under a plurality of scales, resulting in high estimation performance; and by aggregating via a 2D cost body aggregation model, the number of operations can be effectively reduced.

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Inventors:

CUI YAN (CN)
CHANG QINGLING (CN)
LI MINHUA (CN)
XU SHITING (CN)
DAI CHENGLIN (CN)

Application Number:

PCT/CN2022/110040

Publication Date:

December 21, 2023

Filing Date:

August 03, 2022

Export Citation:

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Assignee:

UNIV WUYI (CN)
GUANGDONG SIWEIKAN INTELLIGENT EQUIPMENT CO LTD (CN)
CHINA GERMANY ZHUHAI ARTIFICIAL INTELLIGENCE RES INSTITUTE CO LTD (CN)
4DAGE CO LTD (CN)

International Classes:

G06T7/593

Domestic Patent References:

WO2013165408A1

2013-11-07

Foreign References:

CN111696148A	2020-09-22
CN112489097A	2021-03-12
CN114170311A	2022-03-11
CN112150518A	2020-12-29

Attorney, Agent or Firm:

JIAQUAN IP LAW (CN)

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