关键词: 双目视觉, 极线校正, 立体匹配, 强相似点, 相似代价

Abstract: Stereo matching is an important branch of binocular vision, which can reduce the three-dimensional information through the depth map, but because of its huge amount of computation, real-time is difficult to be guaranteed. In this paper, a fast stereo matching algorithm based on strong similarity is proposed. Firstly, the binocular image is processed by the pole, so that the matching region is fixed on the same horizontal line, and the matching region is reduced. Secondly, the image is gray, and the points in the search range which are close to the gray value of the matching points are defined as strong similarities. The matching cost of the strong similarity points is calculated and the optimal parallax is obtained. Point for normal parallax calculation, the final parallax correction and filtering, get the final parallax. The results show that the proposed method can improve the accuracy of SAD by 70% without compromising the accuracy rate, which provides a good foundation for the practical application of stereo matching algorithm. In the visual navigation, obstacle detection also has a good application prospects.

Key words: binocular vision, epipolar rectification, stereo matching, strong similarities, matching cost