Binocular high-precision depth reconstruction method, system, equipment and medium

• Main Authors: ZHOU XIANGNAN, YANG XU, GUO HUWEI, HUANG LONGXIANG, ZHU LI, WANG BO, LYU FANGLU
• Format: Patent
• Language: Chinese; English
• Published: 13.02.2024
• Subjects: CALCULATING; COMPUTING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS

The invention relates to a binocular high-precision depth reconstruction method, which comprises the following steps of: S1, obtaining corresponding TOF (Time of Flight) depth data and binocular image data; s2, obtaining the TOF depth data corresponding to each pixel on the binocular image, and taking the TOF depth data as a binocular initial depth measurement value of the pixel; s3, calculating parallax corresponding to the initial depth measurement value according to shooting parameters; s4, on the binocular image, by taking the parallax as a center, setting a window for matching; s5, obtaining an optimal matching score position in the window according to an energy function, and taking the optimal matching score position as a final matching result; and S6, traversing all pixel points on the binocular image to obtain a matching result of all image pixels. According to the method, the binocular depth data corresponding to the TOF depth data are used for limitation, the calculation amount of the binocular data