本文選題：雙目圖像 + 立體匹配　； 參考：《北京理工大學(xué)學(xué)報(bào)》2017年09期

【摘要】：針對(duì)移動(dòng)機(jī)器人平臺(tái)上的雙目視覺深度信息獲取問題,研究了一種適用于動(dòng)態(tài)圖像序列的雙目圖像立體匹配算法.采用成熟的半全局立體匹配算法對(duì)圖像快速立體匹配;分析了在復(fù)雜環(huán)境下的運(yùn)動(dòng)平臺(tái)上完成立體匹配所面臨的主要噪聲干擾,包括白斑噪聲和斷層閃爍噪聲;為此,分別提出了白斑濾波算法和視差圖時(shí)間域?yàn)V波方法以抑制這兩種噪聲.試驗(yàn)結(jié)果表明,所提出的算法能夠有效抑制動(dòng)態(tài)雙目圖像在立體匹配時(shí)的噪聲干擾,最終能夠?qū)崟r(shí)獲得連續(xù)清晰的視差圖序列.
[Abstract]:Aiming at the problem of obtaining binocular visual depth information on mobile robot platform, a binocular image stereo matching algorithm suitable for dynamic image sequence is studied.A mature semi-global stereo matching algorithm is used for fast stereo matching of images. The main noise interference, including white spot noise and fault flicker noise, is analyzed when stereo matching is completed on a moving platform in complex environment.White spot filtering algorithm and parallax time domain filtering method are proposed to suppress these two kinds of noise.The experimental results show that the proposed algorithm can effectively suppress the noise interference of dynamic binocular images in stereo matching, and finally obtain continuous and clear parallax image sequences in real time.
【作者單位】： 哈爾濱工程大學(xué)自動(dòng)化學(xué)院;
【基金】：國(guó)家自然科學(xué)基金資助項(xiàng)目(51409053、61175089) 黑龍江省自然基金資助項(xiàng)目(E201414)
【分類號(hào)】：TP242;TP391.41

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