Patent ID: 11908152
Assignee: DALIAN UNIVERSITY OF TECHNOLOGY
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 3:
4. The acceleration method of depth estimation for multiband stereo cameras according to claim 1, wherein in step 3, energy propagation is conducted on the sparse cost diagram to obtain an energy diagram and then to obtain the disparity diagram by a principle “Winner takes all”. the energy is described as follows:, E
            ⁡
            
              (
              D
              )
            
          
          =
          
            
              
                ∑
                p
              
              ⁢
              
                C
                ⁡
                
                  (
                  
                    p
                    ,
                    
                      D
                      p
                    
                  
                  )
                
              
            
            +
            
              
                ∑
                
                  q
                  ∈
                  
                    N
                    p
                  
                
              
              ⁢
              
                
                  P
                  1
                
                ⁢
                
                  T
                  ⁡
                  
                    [
                    
                      
                        
                        
                          
                            D
                            p
                          
                          -
                          
                            D
                            q
                          
                        
                        
                      
                      =
                      1
                    
                    ]
                  
                
              
            
            +
            
              
                ∑
                
                  q
                  ∈
                  
                    N
                    p
                  
                
              
              ⁢
              
                
                  P
                  2
                
                ⁢
                
                  T
                  ⁡
                  
                    [
                    
                      
                        
                        
                          
                            D
                            p
                          
                          -
                          
                            D
                            q
                          
                        
                        
                      
                      >
                      1
                    
                    ]
                  
                
              
            
          
        
        ]
      
    
    
      
        (
        3
        )
      
    
  

wherein C(p,Dp) is the cost at position p when the disparity is Dp, T[⋅] is an indicator function, and the output is 1 when the input satisfies the conditions within [ ], otherwise, is 0; P1 and P2 are penalty terms; Dq is a disparity value at position q;
according to formula (4), in accordance with the global structure of the image, the cost distribution information of surrounding pixels is transmitted to the center pixel from multiple directions., L
            r
          
          ⁡
          
            (
            
              p
              ,
              d
            
            )
          
        
        =
        
          
            C
            ⁡
            
              (
              
                p
                ,
                d
              
              )
            
          
          +
          
            min
            ⁡
            
              (
              
                
                  
                    
                      
                        
                          L
                          r
                        
                        ⁡
                        
                          (
                          
                            
                              p
                              -
                              r
                            
                            ,
                            d
                          
                          )
                        
                      
                      ,
                      
                        
                          
                            L
                            r
                          
                          ⁡
                          
                            (
                            
                              
                                p
                                -
                                r
                              
                              ,
                              
                                d
                                -
                                1
                              
                            
                            )
                          
                        
                        +
                        
                          P
                          1
                        
                      
                      ,
                    
                  
                
                
                  
                    
                      
                        
                          
                            L
                            r
                          
                          ⁡
                          
                            (
                            
                              
                                p
                                -
                                r
                              
                              ,
                              
                                d
                                +
                                1
                              
                            
                            )
                          
                        
                        +
                        
                          P
                          1
                        
                      
                      ,
                    
                  
                
                
                  
                    
                      
                        
                          min
                          i
                        
                        ⁢
                        
                          
                            L
                            r
                          
                          ⁡
                          
                            (
                            
                              
                                p
                                -
                                r
                              
                              ,
                              i
                            
                            )
                          
                        
                      
                      +
                      
                        P
                        2
                      
                    
                  
                
              
              )
            
          
          -
          
            
              min
              k
            
            ⁢
            
              
                L
                r
              
              ⁡
              
                (
                
                  
                    p
                    -
                    r
                  
                  ,
                  k
                
                )
              
            
          
        
      
    
    
      
        (
        4
        )
      
    
  

Lr(p,d) is aggregation energy when the disparity at position p is d, and r is a transfer direction;
after energy propagation, a tensor of size height(H)×width(W)×maximum disparity(D), i.e., the energy propagation diagram, is obtained; a disparity corresponding to minimum energy is found for each pixel position according to an energy propagation diagram, which is the integer disparity d(x,y) of the pixel;, d
          ⁡
          
            (
            
              x
              ,
              y
            
            )
          
        
        =
        
          arg
          ⁢
          
            
          
          ⁢
          
            
              min
              
                i
                ∈
                
                  D
                  max
                
              
            
            ⁢
            
              energy
              ⁡
              
                (
                i
                )
              
            
          
        
      
    
    
      
        (
        5
        )
      
    
  

the energy (⋅) is the energy after aggregation;
a subpixel level disparity diagram is calculated by using the energy diagram and an integral pixel disparity diagram.