激光与光电子学进展, 2018, 55 (12): 121013, 网络出版: 2019-08-01   

基于双目视觉的深度图拼接 下载: 1345次

Depth Map Stitching Based on Binocular Vision
作者单位
北京理工大学光电学院精密光电测试仪器及技术北京市重点实验室, 北京 100081
摘要
提出了一种基于双目视觉的深度图像拼接方法。利用预先标定好的双目深度传感器,通过运动采集到具有一定重叠区域的两张深度图,深度图与左目图像的像素点一一对应,对左目图像进行特征提取并匹配,计算出单应性矩阵,进而对两幅深度图进行拼接,并结合单应性矩阵对深度图深度进行矫正,得到最终深度图拼接结果。仿真和实验结果表明,所提方法可以有效扩大双目深度传感器的视场,得到的拼接深度图与单传感器采集到的基本相同。
Abstract
A depth image stitching method based on binocular vision is proposed, in which a pre-calibrated binocular depth sensor is used to acquire two depth maps with certain overlapping areas through motion. These depth maps correspond to the pixel points of left-view images one by one. The feature extraction is performed on the left-view images and after matching, the homography matrix is calculated and obtained. Then the two depth maps are further stitched and the depth of these maps is corrected based on the homography matrix, and thus the final depth map stitching results are obtained. The simulation and experimental results show that, the proposed method can effectively expand the field of view of the binocular depth sensor and the obtained stitching depth map is basically same with the depth map acquired by a single sensor.

袁瑞峰, 刘明, 惠梅, 赵跃进, 董立泉. 基于双目视觉的深度图拼接[J]. 激光与光电子学进展, 2018, 55(12): 121013. Ruifeng Yuan, Ming Liu, Mei Hui, Yuejin Zhao, Liquan Dong. Depth Map Stitching Based on Binocular Vision[J]. Laser & Optoelectronics Progress, 2018, 55(12): 121013.

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