Patent Document ID: 10107617
Application ID: 15310066
Patent Status: 1

Claim One:
1. A feature point matching method of a planar array of a four-camera group, comprising steps as follows: a1. taking any imaging plane of four imaging planes corresponding to four cameras of a four-camera group as a base imaging plane, and determining, for one feature point on the base imaging plane, all matching points matching the feature point on an imaging plane adjacent to the base imaging plane in a lateral direction; a2. for the feature point on the base imaging plane in the step a1, finding out all matching points matching the feature point on an imaging plane adjacent to the base imaging plane in a longitudinal direction; a3. re-matching all of the matching points determined in the step a1 and all of the matching points found out in the step a2, to determine corresponding sub-matching point groups; a4. according to the feature point on the base imaging plane and all of the sub-matching point groups determined in the step a3, identifying matching points on an imaging plane at a diagonal position corresponding to the feature point on the base imaging plane and all of the sub-matching point groups determined in the step a3, wherein the imaging plane at the diagonal position is an imaging plane located at the diagonal position of the base imaging plane; and a5. according to the feature point on the base imaging plane, all of the sub-matching point groups determined in the step a3 and the matching points identified in the step a4, determining unique matching point groups on the four imaging planes corresponding to a same viewed point, wherein: in the step a1, for the feature point on the base imaging plane, all matching points matching the feature point on the imaging plane adjacent to the base imaging plane in the lateral direction are determined according to a matching condition (1), wherein the matching condition (1) is that, imaging points of one viewed point on two imaging planes adjacent in a lateral direction meet that: an imaging point of the viewed point on a left imaging plane and an imaging point of the viewed point on a corresponding right imaging plane are located on a same straight line parallel to a lateral coordinate axis, and a horizontal offset amount of the imaging point on the left imaging plane with respect to a coordinate origin of the left imaging plane is greater than a horizontal offset amount of the imaging point on the right imaging plane with respect to a coordinate origin of the right imaging plane; in the step a2, for the feature point on the base imaging plane in the step a1, all matching points matching the feature point on an imaging plane adjacent to the base imaging plane in a longitudinal direction are determined according to a matching condition (2), wherein the matching condition (2) is that, imaging points of one viewed point on two imaging planes adjacent in a longitudinal direction meet that: an imaging point of the viewed point on an upper imaging plane and an imaging point of the viewed point on a corresponding lower imaging plane are located on a same straight line parallel to a longitudinal coordinate axis, and a vertical offset amount of the imaging point on the upper imaging plane with respect to a coordinate origin of the upper imaging plane is greater than a vertical offset amount of the imaging point on the lower imaging plane with respect to a coordinate origin of the lower imaging plane; and in the step a3, all of the matching points determined in the step a1 and all of the matching points found out in the step a2 are re-matched according to a matching condition (3), to exclude matching points not satisfying the matching condition (3), and the matching points satisfying the matching condition (3) are paired according to magnitudes of lateral offset values or longitudinal offset values to form sub-matching point groups, wherein the matching condition (3) is that, a corresponding matching point group of one viewed point on four imaging planes of a four-camera group meets that: a ratio of a lateral offset value to a longitudinal offset value is equal to a ratio of a length to a width of a reference rectangle, wherein the lateral offset value is a difference between a horizontal offset amount of an imaging point of the viewed point on a left imaging plane with respect to a coordinate origin of the left imaging plane and a horizontal offset amount of an imaging point of the viewed point on a corresponding right imaging plane with respect to a coordinate origin of the right imaging plane, and the longitudinal offset value is a difference between a vertical offset amount of an imaging point of the viewed point on an upper imaging plane with respect to a coordinate origin of the upper imaging plane and a vertical offset amount of an imaging point of the viewed point on a corresponding lower imaging plane with respect to a coordinate origin of the lower imaging plane, wherein the reference rectangle is a rectangle formed by four focal points of a four-camera group.