删除或更新信息，请邮件至freekaoyan#163.com(#换成@)

机器人双目图像实时立体匹配算法

本站小编 Free考研考试/2021-12-21
本文二维码信息
二维码（扫一下试试看！）
机器人双目图像实时立体匹配算法
Stereo Matching Algorithm for Robot Binocular Images in Real Time
投稿时间：2016-01-08
DOI：10.15918/j.tbit1001-0645.2017.09.017
中文关键词:双目图像立体匹配白斑滤波时间域滤波
English Keywords:binocular imagesstereo matchingwhite spot filteringtime-domain filtering
基金项目:国家自然科学基金资助项目（51409053、61175089）黑龙江省自然基金资助项目（E201414）
作者单位
张智哈尔滨工程大学 自动化学院, 黑龙江 哈尔滨 150001
郭文县哈尔滨工程大学 自动化学院, 黑龙江 哈尔滨 150001
苏丽哈尔滨工程大学 自动化学院, 黑龙江 哈尔滨 150001
董然哈尔滨工程大学 自动化学院, 黑龙江 哈尔滨 150001
摘要点击次数:797
全文下载次数:1872
中文摘要:
针对移动机器人平台上的双目视觉深度信息获取问题，研究了一种适用于动态图像序列的双目图像立体匹配算法.采用成熟的半全局立体匹配算法对图像快速立体匹配；分析了在复杂环境下的运动平台上完成立体匹配所面临的主要噪声干扰，包括白斑噪声和断层闪烁噪声；为此，分别提出了白斑滤波算法和视差图时间域滤波方法以抑制这两种噪声.试验结果表明，所提出的算法能够有效抑制动态双目图像在立体匹配时的噪声干扰，最终能够实时获得连续清晰的视差图序列.
English Summary:
For the problem of acquiring binocular vision depth information on a mobile robot platform, a binocular image stereo matching algorithm was proposed for dynamic image sequence. Firstly, a mature semi-global matching algorithm was adopted to carry out the rapid stereo matches of stereo images for the disparity images. On this basis, the major noises encountered during the stereo match process on a mobile platform in a complex environment were analyzed, including the white-spot noise as well as the fault flicker noise. Further, a white-spot filtering algorithm and a disparity image time-domain filtering algorithm were developed respectively to reject the noises. Finally, the experimental verifications were performed. The results show that, the noises coming from stereo matches of dynamic binocular vision images can be effectively suppressed with the proposed algorithms, besides a continuous and clear disparity image sequence can be derived in real-time, which is significant to the obstacle avoidance and the situational awareness of a running mobile robot in a complicated environment.
查看全文查看/发表评论下载PDF阅读器
相关话题/哈尔滨工程大学 自动化 黑龙江 图像 中文

Free考研考试FreeKaoYan.Com
欢迎来到Free考研考试，"为实现人生的Free而奋斗"

© 2020 FreeKaoYan! . All rights reserved.