Patent ID: 11948333
Assignee: PENG CHENG LABORATORY
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 1:
2. The disparity image fusion method for multiband stereo cameras according to claim 1, wherein the specific process of the SGM method is as follows:
(a-1) firstly, conducting initial cost calculation; when sliding window matching based on Census features is used, the process is:
obtaining a Census feature descriptor of each pixel, and using a sliding window for search on a scanning line to calculate the cost corresponding to the possible disparity of each pixel:

Costd,d∈Dmax(x,y)=HD(CensusL(x,y),CensusR(x−d,y))  (2)

in the formula, HD( ) represents a Hamming distance, and CensusL and CensusR are respectively Census feature descriptors of a left diagram pixel and a right diagram pixel; a tensor of size height ×width ×maximum disparity, which is the output of cost calculation, is the cost diagram;
(a-2) conducting energy propagation on an initial cost diagram to obtain an energy propagation diagram; the energy is described as follows:, E
       ⁡
       (
       D
       )
      
      =
      
       
        
         ∑
         p
        
        
         C
         ⁡
         (
         
          p
          ,
          
           D
           p
          
         
         )
        
       
       +
       
        
         ∑
         
          q
          ∈
          
           𝒩
           p
          
         
        
        
         
          P
          1
         
         ⁢
         
          T
          [
          
           
            
             ❘
             "\[LeftBracketingBar]"
            
            
             
              D
              p
             
             -
             
              D
              q
             
            
            
             ❘
             "\[RightBracketingBar]"
            
           
           =
           1
          
          ]
         
        
       
       +
       
        
         ∑
         
          q
          ∈
          
           𝒩
           p
          
         
        
        
         
          P
          2
         
         ⁢
         
          T
          [
          
           
            
             ❘
             "\[LeftBracketingBar]"
            
            
             
              D
              p
             
             -
             
              D
              q
             
            
            
             ❘
             "\[RightBracketingBar]"
            
           
           >
           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, the output 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; r is a transfer direction; i and k respectively represent disparity values i and k at position p and position p-r;
after energy propagation, a tensor of size height ×width ×maximum disparity is obtained to be an the energy propagation diagram;
(a-3) finding a disparity corresponding to minimum energy for each pixel position according to the 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
     )
    
   
  
 

wherein the energy (·) is the energy after aggregation;
(a-4) calculating a subpixel level disparity diagram by using the energy propagation diagram and an integral pixel disparity diagram.