双目立体视觉匹配技术综述_曹之乐

292Vol．29No．2JournalofChongqingUniversityofTechnologyNaturalScience20152Feb．20152014－10－10KJ1208071989—1964—。．J．2015270－75．CitationformatCAOZhi-LeYANZhong-HongWANGHong．SummaryofBinocularStereoVisionMatchingTechnologyJ．JournalofChongqingUniversityofTechnologyNaturalScience2015270－75．doi10．3969/j．issn．1674－8425z．2015．02．014400054。。。。。TP39A1674－8425201502－0070－06SummaryofBinocularStereoVisionMatchingTechnologyCAOZhi-LeYANZhong-HongWANGHongCollegeofPharmacyandBiomedicalEngineeringChongqingUniversityofTechnologyChongqing400054ChinaAbstractThecorepartofthestereovisionisstereomatching．Fordifferentapplicationfieldstherearedifferentstereomatchingmethodstodealwith．Firstthepaperbrieflyintroducedtheprincipleofbinocularvisionstereomatchingtechnologyandsomekeypoints．Secondlywesummedupthead-vantagesanddisadvantagesofvariousalgorithmsandhaddeeplydiscussedandstudiedthestereomatchingalgorithmbasedondistrictandstereomatchingalgorithmbasedonoverallsituation．Finallythestereomatchingalgorithmofthefuturewasprospectedwhichprovidessomevaluableideasforthosewhostudyinthisfield．Keywordsbinocularstereovisionstereomatchingdynamicprogrammingimagesegmentationbeliefpropagation、、3D、3D、、。2070Marr1。、。Census。、、Harris、SIFT、SUＲF、、。2。2。1。1。1OaXaYaZaOlOr。ZlZrZlZrXa。2Ol、Orb。POl、Orplpr。1。fdplprXZ。bfd。d。Z=b·fd11．11。。2。。31。y。4。1．2。①、、Harris、SIFT、SUＲF②③。。217。。2．1。。LazarosNalpantidi2、、。3。winner-takes-allWTA。SAD、SSD、NCC、ZSAD2。SAD=∑i=n∑j=mI1u+i()v+j－I2u+d+i()v+jSSD=∑i=n∑j=mI1u+i()v+j－I2u+d+i()()v+j2NCC=∑i=n∑j=mI1u+i()v+jI2u+d+i()v+j∑i=n∑j=mI1u+i()v+j2∑i=n∑j=mI2u+d+i()v+j槡2ZSAD=∑i=n∑j=mI1u+i()v+j－I1－I2u+d+i()v+j－I22I1I2uvnmI1I2。。。。4－53。。CensusHammingdistanceＲank01。2．2、。。23。6。。E()f=Esmooth()f+Edata()f32．2．1。。。。2010J．Cal7。2011MohamedElAnsari8。2013MinhNguyenYukHinChan927。。7。1。。0。。2。。。3。。7。y。。。10。2．2．211。。。。2006AndreasKlaus12。200713。2010Bleyer10。201111MＲFMarkovMＲF。12－14。①②、③④MarkovGibbs15。。、、。2．2．316。。3717。2003JianSun1633。2013ArminAh-madzadeh18FPGAGPUGPUGPU。①②③。19。。。BP-MBP-S。BP-M4。BP-S218。。、。3。。。。1。1SSDSADZSAD。NCC。DPBP。。Graphcut。。。SADSSDNCCZSADDPBPGraphcut4。KajalSharma2012SIFT。Li-HengLin2013harrs。。。47。1MarrDC．AComputationalInvestigationintotheHumanＲepresentationandProcessingofVisualInformationM．SanFranciscoW．H．Freemanandcompany1982．2NalpantidisLGasteratosA．Stereovisionforroboticap-plicationsinthepresenceofnon-ideallightingconditionsJ．ImageandVisionComputing2010286940-951．3AmbroschKKubingerW．Accuratehardware-basedster-eovisionJ．ComputerVisionandImageUnderstanding20101141303-1316．4NuanShaoHuiGuangLiLeLiuetal．StereovisionrobotobstacledetectionbasedontheSIFTＲ．2010SecondWＲIGlobalCongressonIntelligentSystems2010．5SizintsevMWildesＲP．Coarse-to-finestereovisionwithaccurate3DboundariesJ．ImageandVisionComputing201028352－366．6BoykovYVekslerOZabihＲ．FastApproximateenergyminimizationviagraphcutJ．PatternAnalysisandMa-chineIntelligence200223111222-1239．7CaiJ．Integrationofopticalflowanddynamicprogram-mingforstereomatchingJ．IETImageProcessing201263205-212．8MohamedElAnsariMazoulABensrhairAetal．AＲeal-timeSpatio-TemporalStereoMatchingforＲoadApplica-tionsC//14thInternationalIEEEConferenceonIntelli-gentTransportationSystems．2011．9NguyenMYukHinChanDelmasPetal．SymmetricDynamicProgrammingStereoUsingBlockMatchingGuidanceC//28thInternationalConferenceonImageandVisionComputingNewZealand．2013．10GangYaoYongLiuBangjunLeietal．AＲapidStereoMatchingAlgorithmBasedonDisparityInterpolationC//Proceedingsof2010ConferenceonDependableCompnting．2010．11．J．2011311175-178．12．J．2013646－48．13．J．2013771－75112．14．J．2013637－39．15．D．2007．16JianSunNanNingZheng．SeniorMember．Stereomatc-hingusingbeliefpropagationJ．IEEETransactionsonPatternAnalysisandMachineIntelligence2003257787-800．17．J．20131115-117．18AhmadzadehAMadaniHJafariKetal．FastandA-daptiveBP-basedMulti-coreImplementationforStereoMatchingＲ．FormalMethodsandModelsforCode-sign2013．19FelzenszwalbPFHuttenlocherDP．EfficientBeliefPropagationforEarlyVisionJ．InternationalJournalofComputerVision200670141-54．檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶檶6911．GooglemapJ．20111694－94．12．MFCB．2．2001．13．GISCADJ．20061891460－1464．14．MapInfoJ．2005342175－178．15．MapInfoJ．1998333－36．57