Method of matching stereo images and method of measuring disparity between these image
First Claim
1. A method of detecting a disparity between stereo images, comprising the steps of:
- dividing each of first and second images IL and IR into a plurality of blocks each having a size of M×
L pixels;
matching ternary-valued frequency component images of said images IL and IR;
comparing pixels in a micro region defined by a one-dimensional window set on said first image IL with pixels in a designated micro region on said second image IR;
evaluating a similarity between two micro regions using the following equation;
space="preserve" listing-type="equation">Ε
all=Σ
β
k(PN)k+Σ
γ
k(ZN)kwhere PN represents a total number of pixels having an evaluation result "P" while ZN represents a total number of pixels having an evaluation result "Z", and β
k and γ
k represent weighting factors;
searching a first region having a most highest similarity and a second region having a second highest similarity in a concerned block;
specifying a first candidate disparity as a disparity corresponding to said first region, and a second candidate disparity as a disparity corresponding to said second region;
creating a histogram based on said first and second candidate disparities; and
determining a valid disparity of said concerned block as a disparity corresponding to a peak position of said histogram.
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Abstract
In the image pickup phase (A), right and left images are taken in through two image-pickup devices (S101, S102). Then, in the next feature extraction phase (B), right and left images are respectively subjected to feature extraction (S103, S104). Thereafter, in the succeeding matching phase (C), the extracted features of right and left images are compared to check how they match with each other (step S105). More specifically, in the matching phase (C), a one-dimensional window is set, this one-dimensional window is shifted along the left image in accordance with a predetermined scanning rule so as to successively set overlapped one-dimensional windows, and a matching operation is performed by comparing the image features within one window and corresponding image features on the right image. Subsequently, in the disparity determination phase (D), the left image is dissected or divided into plural blocks each having a predetermined size, a histogram in each block is created from disparities obtained by the matching operation based on one-dimensional windows involving pixels of a concerned block, and a specific disparity just corresponding to the peak of thus obtained histogram is identified as a valid disparity representing the concerned block (S106).
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Citations
4 Claims
-
1. A method of detecting a disparity between stereo images, comprising the steps of:
-
dividing each of first and second images IL and IR into a plurality of blocks each having a size of M×
L pixels;matching ternary-valued frequency component images of said images IL and IR; comparing pixels in a micro region defined by a one-dimensional window set on said first image IL with pixels in a designated micro region on said second image IR; evaluating a similarity between two micro regions using the following equation;
space="preserve" listing-type="equation">Ε
all=Σ
β
k(PN)k+Σ
γ
k(ZN)kwhere PN represents a total number of pixels having an evaluation result "P" while ZN represents a total number of pixels having an evaluation result "Z", and β
k and γ
k represent weighting factors;searching a first region having a most highest similarity and a second region having a second highest similarity in a concerned block; specifying a first candidate disparity as a disparity corresponding to said first region, and a second candidate disparity as a disparity corresponding to said second region; creating a histogram based on said first and second candidate disparities; and determining a valid disparity of said concerned block as a disparity corresponding to a peak position of said histogram. - View Dependent Claims (2, 3, 4)
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Specification