SG11202011008XA - Binocular matching method and apparatus, and device and storage medium - Google Patents

Binocular matching method and apparatus, and device and storage medium

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Publication number
SG11202011008XA
SG11202011008XA SG11202011008XA SG11202011008XA SG11202011008XA SG 11202011008X A SG11202011008X A SG 11202011008XA SG 11202011008X A SG11202011008X A SG 11202011008XA SG 11202011008X A SG11202011008X A SG 11202011008XA SG 11202011008X A SG11202011008X A SG 11202011008XA
Authority
SG
Singapore
Prior art keywords
storage medium
matching method
binocular matching
binocular
medium
Prior art date
Application number
SG11202011008XA
Inventor
Xiaoyang Guo
Kai Yang
Wukui Yang
Hongsheng Li
Xiaogang Wang
Original Assignee
Beijing Sensetime Technology Development Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Sensetime Technology Development Co Ltd filed Critical Beijing Sensetime Technology Development Co Ltd
Publication of SG11202011008XA publication Critical patent/SG11202011008XA/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/25—Fusion techniques
    • G06F18/253—Fusion techniques of extracted features
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/08—Learning methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/11—Region-based segmentation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
    • G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
    • G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
    • G06V10/80—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
    • G06V10/806—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of extracted features
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/82—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20016—Hierarchical, coarse-to-fine, multiscale or multiresolution image processing; Pyramid transform
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20076—Probabilistic image processing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20081—Training; Learning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20084—Artificial neural networks [ANN]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/16—Image acquisition using multiple overlapping images; Image stitching
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074—Stereoscopic image analysis
    • H04N2013/0081—Depth or disparity estimation from stereoscopic image signals

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • General Health & Medical Sciences (AREA)
  • Software Systems (AREA)
  • Computing Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Multimedia (AREA)
  • Databases & Information Systems (AREA)
  • Data Mining & Analysis (AREA)
  • General Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Biomedical Technology (AREA)
  • Computational Linguistics (AREA)
  • Molecular Biology (AREA)
  • Mathematical Physics (AREA)
  • Evolutionary Biology (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
SG11202011008XA 2019-02-19 2019-09-26 Binocular matching method and apparatus, and device and storage medium SG11202011008XA (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910127860.4A CN109887019B (en) 2019-02-19 2019-02-19 Binocular matching method and device, equipment and storage medium
PCT/CN2019/108314 WO2020168716A1 (en) 2019-02-19 2019-09-26 Binocular matching method and apparatus, and device and storage medium

Publications (1)

Publication Number Publication Date
SG11202011008XA true SG11202011008XA (en) 2020-12-30

Family

ID=66928674

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11202011008XA SG11202011008XA (en) 2019-02-19 2019-09-26 Binocular matching method and apparatus, and device and storage medium

Country Status (6)

Country Link
US (1) US20210042954A1 (en)
JP (1) JP7153091B2 (en)
KR (1) KR20200136996A (en)
CN (1) CN109887019B (en)
SG (1) SG11202011008XA (en)
WO (1) WO2020168716A1 (en)

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CN111383256B (en) * 2018-12-29 2024-05-17 北京市商汤科技开发有限公司 Image processing method, electronic device, and computer-readable storage medium
CN109887019B (en) * 2019-02-19 2022-05-24 北京市商汤科技开发有限公司 Binocular matching method and device, equipment and storage medium
CN110689060B (en) * 2019-09-16 2022-01-28 西安电子科技大学 Heterogeneous image matching method based on aggregation feature difference learning network
US11763433B2 (en) * 2019-11-14 2023-09-19 Samsung Electronics Co., Ltd. Depth image generation method and device
CN111260711B (en) * 2020-01-10 2021-08-10 大连理工大学 Parallax estimation method for weakly supervised trusted cost propagation
CN111709977A (en) * 2020-03-17 2020-09-25 北京航空航天大学青岛研究院 Binocular depth learning method based on adaptive unimodal stereo matching cost filtering
CN112819777B (en) * 2021-01-28 2022-12-27 重庆西山科技股份有限公司 Binocular endoscope auxiliary display method, system, device and storage medium
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CN113393366A (en) * 2021-06-30 2021-09-14 北京百度网讯科技有限公司 Binocular matching method, device, equipment and storage medium
CN113283848B (en) * 2021-07-21 2021-09-28 湖北浩蓝智造科技有限公司 Goods warehousing detection method, warehousing system and storage medium
CN114627535B (en) * 2022-03-15 2024-05-10 平安科技（深圳）有限公司 Coordinate matching method, device, equipment and medium based on binocular camera
CN114419349B (en) * 2022-03-30 2022-07-15 中国科学技术大学 Image matching method and device
CN115063467B (en) * 2022-08-08 2022-11-15 煤炭科学研究总院有限公司 Method and device for estimating high-resolution image parallax in underground coal mine
CN115908992B (en) * 2022-10-22 2023-12-05 北京百度网讯科技有限公司 Binocular stereo matching method, device, equipment and storage medium
CN116229123B (en) * 2023-02-21 2024-04-30 深圳市爱培科技术股份有限公司 Binocular stereo matching method and device based on multi-channel grouping cross-correlation cost volume

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CN104680510B (en) * 2013-12-18 2017-06-16 北京大学深圳研究生院 RADAR disparity maps optimization method, Stereo matching disparity map optimization method and system
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Also Published As

Publication number Publication date
KR20200136996A (en) 2020-12-08
CN109887019A (en) 2019-06-14
JP2021526683A (en) 2021-10-07
US20210042954A1 (en) 2021-02-11
WO2020168716A1 (en) 2020-08-27
JP7153091B2 (en) 2022-10-13
CN109887019B (en) 2022-05-24

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