Patent ID: 11908152
Assignee: PENG CHENG LABORATORY
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 0:
1. An acceleration method of depth estimation for multiband stereo cameras, comprising the following steps:
step 1, 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; and jointly calibrating the multiband binocular cameras to obtain position relationship parameters among devices of different bands, comprising rotation and translation;
step 2, registering the multiband binocular cameras to obtain a coordinate conversion matrix of corresponding pixels among images collected by the devices of different bands, i.e., a homography matrix; denoising a binocular image pair in each band; and conducting longitudinal compression on the image in each band to save matching efficiency;
step 3, matching the binocular images according to a semi-global matching (SGM) method to obtain respective initial cost diagrams of the multiband binocular images; compressing the initial cost diagrams to increase propagation efficiency; conducting energy propagation on the compressed sparse cost diagrams to correct and optimize error matching; finding a disparity corresponding to minimum energy for each pixel position according to an energy propagation diagram to obtain a disparity diagram;
step 4, optimizing the disparity diagram, recovering the optimized disparity into an original scale through an upsampling method, and obtaining a final depth map according to a disparity fusion method.