Patent ID: 11948333
Assignee: DALIAN UNIVERSITY OF TECHNOLOGY
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 0:
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.