US 11,948,333 B2
Disparity image fusion method for multiband stereo cameras
Wei Zhong, Liaoning (CN); Hong Zhang, Liaoning (CN); Haojie Li, Liaoning (CN); Zhihui Wang, Liaoning (CN); Risheng Liu, Liaoning (CN); Xin Fan, Liaoning (CN); Zhongxuan Luo, Liaoning (CN); and Shengquan Li, Liaoning (CN)
Assigned to DALIAN UNIVERSITY OF TECHNOLOGY, Liaoning (CN); and PENG CHENG LABORATORY, Guangdong (CN)
Appl. No. 17/604,288
Filed by DALIAN UNIVERSITY OF TECHNOLOGY, Liaoning (CN); and PENG CHENG LABORATORY, Guangdong (CN)
PCT Filed Mar. 5, 2020, PCT No. PCT/CN2020/077962
§ 371(c)(1), (2) Date Oct. 15, 2021,
PCT Pub. No. WO2021/138993, PCT Pub. Date Jul. 15, 2021.
Claims priority of application No. 202010027774.9 (CN), filed on Jan. 10, 2020.
Prior Publication US 2022/0207776 A1, Jun. 30, 2022
Int. Cl. G06T 7/80 (2017.01); G06F 17/12 (2006.01); G06T 5/50 (2006.01)
CPC G06T 7/85 (2017.01) [G06F 17/12 (2013.01); G06T 5/50 (2013.01); G06T 2207/20221 (2013.01); G06T 2207/20228 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A disparity image fusion method for multiband stereo cameras, comprising the following steps:
(a) calibrating respective internal and external parameters of multiband binocular cameras, wherein the internal parameters comprise a focal length and an optical center, and the external parameters comprise rotation and translation; correcting binocular images outputted by the binocular cameras in different bands into a parallel equipotential relationship;
(b) jointly calibrating the multiband binocular cameras to obtain position relationship parameters among devices of different bands, comprising rotation and translation;
(c) registering the multiband binocular cameras to obtain a coordinate conversion matrix of corresponding pixels among images collected by the devices of different bands, wherein the coordinate conversion matrix is a homography matrix;
(d) Matching the binocular images according to a semi-global matching (SGM) method to obtain respective cost diagrams of the multiband binocular images; and calculating the confidence and the disparity of each pixel point according to the cost diagrams to obtain disparity diagrams with the confidence;
(e) fusing the disparity diagrams obtained by cameras under two modes according to the confidence, rotation and translation parameters and the homography matrix to obtain more complete and more accurate depth diagrams; calculating a depth diagram corresponding to the fused disparity according to calibration parameters and the triangulation measurement principle.