Stereo matching method and disparity measuring method
First Claim
1. A method for taking correspondence between right and left stereo images imaged by two imaging devices arranged at a predetermined horizontal distance therebetween, comprising the steps of:
- extracting horizontal edges from the right and left stereo images by using differentiation;
deciding a level of each pixel of the extracted horizontal edges into a ternary value by using a first threshold value and a second threshold value; and
determining a position in one of the right and left stereo images corresponding to that in the other of the right and left stereo images on the basis of the ternary values obtained through said deciding step,wherein said determining step includes setting a one-dimensional window having a size of N pixels along a horizontal direction in one of the right and left stereo images.
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Abstract
A method for measuring stereo image disparity between right and left stereo images for each of two-dimensional blocks having a rectangular shape. In particular, the method includes the steps of deciding a level of each pixel in the right and left stereo images according to a ternary value, sequentially setting a one-dimensional window having a size of N pixels along a horizontal direction in one of the right and left stereo images by overlapping N/2 pixels, determining the disparity for each one-dimensional window by determining a portion in the other of the right and left stereo images corresponding to each one-dimensional window on the basis of the ternary value obtained through the deciding step to generate a histogram of the disparities, and determining the stereo image disparity for each of the two-dimensional blocks on the basis of the histogram of the disparities.
124 Citations
21 Claims
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1. A method for taking correspondence between right and left stereo images imaged by two imaging devices arranged at a predetermined horizontal distance therebetween, comprising the steps of:
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extracting horizontal edges from the right and left stereo images by using differentiation; deciding a level of each pixel of the extracted horizontal edges into a ternary value by using a first threshold value and a second threshold value; and determining a position in one of the right and left stereo images corresponding to that in the other of the right and left stereo images on the basis of the ternary values obtained through said deciding step, wherein said determining step includes setting a one-dimensional window having a size of N pixels along a horizontal direction in one of the right and left stereo images. - View Dependent Claims (2, 4, 5, 7, 8, 10, 11, 13, 14, 16, 17)
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3. A method for taking correspondence between right and left stereo images imaged by two imaging devices arranged at a predetermined horizontal distance therebetween, comprising the steps of:
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reducing out-of-band frequency components of the right and left stereo images by using a band-pass filter to extract horizontal edges having in-band frequency components from the right and left stereo images; deciding a level of each pixel of the extracted horizontal edges into a ternary value by using a first threshold value and a second threshold value; and determining a position in one of the right and left stereo images corresponding to that in the other of the right and left stereo images on the basis of the ternary values obtained through said deciding step, wherein said determining step includes setting a one-dimensional window having a size of N pixels along a horizontal direction in one of the right and left stereo images. - View Dependent Claims (6, 9, 12, 15)
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18. A method of measuring the stereo image disparity between right and left stereo images, said method comprising the steps of:
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deciding a level of each pixel in the right and left stereo images into a ternary value; dividing a whole screen of one of the right and left stereo images into two-dimensional blocks each having a size of N×
M pixels;sequentially setting a one-dimensional window having a size of N pixels along a horizontal direction in one of the right and left stereo images; searching in the other of the right and left stereo images an area having the highest degree of coincidence with a pattern of N ternary values in said one-dimensional window and an area having the next highest degree of coincidence with the pattern of N ternary values in said one-dimensional window; designating disparity in an area having the highest degree of coincidence as the first candidate disparity and disparity in an area having the next highest degree of coincidence as the second candidate disparity in each one-dimensional window; generating a histogram of disparities by using at least one of said first candidate disparity and said second candidate disparity; and determining disparity at a peak of the histogram of the disparities as the stereo image disparity for each of said two-dimensional blocks. - View Dependent Claims (19, 20)
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21. A method for measuring stereo image disparity between right and left stereo images for each of a plurality of two-dimensional blocks having a rectangular shape, said method comprising the steps of:
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deciding a level of each pixel in the right and left stereo images into a ternary value; sequentially setting a one-dimensional window having a size of N pixels along a horizontal direction in one of the right and left stereo images by overlapping N/2 pixels; determining disparity for each one-dimensional window by determining a portion in the other of the right and left stereo images corresponding to each one-dimensional window on the basis of the ternary value obtained through said deciding step, thereby generating a histogram of the disparities; and determining the stereo image disparity for each of said two-dimensional blocks on the basis of the histogram of the disparities.
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Specification