双目移动机器人立体匹配算法  

A Stereo Matching Algorithm for Binocular Mobile Robot

作　　者：王贵财[1] 崔平远[1,2] 居鹤华[1] 

机构地区：[1]北京工业大学电子信息与控制工程学院,北京100124 [2]北京理工大学宇航学院,北京100081

出　　处：《北京工业大学学报》2011年第5期675-682,共8页Journal of Beijing University of Technology

基　　金：国家'八六三'计划资助项目(2006AA12Z307)

摘　　要：提出一种基于图像分割和可信点的双目移动机器人立体匹配算法,首先采用纹理检验分割算法对双目移动机器人获得的左右图像进行分割,确定低纹理和纹理相似区域;然后通过SIFT特征匹配点得到可信点视差;其次采用SAD区域匹配加速算法得到初始视差;最后依据SIFT特征匹配点的分布、初始视差和最小距离分类器对图像分割块进行视差处理,同时对于较小的图像分割块进行BLOB滤波处理来获取较高精度的视差图.实验结果表明,本算法能有效解决双目移动机器人周边环境中的低纹理和纹理相似视差精度差的问题,可快速准确识别障碍.A novel stereo matching algorithm for a binocular mobile robot is presented,which is based on image segmentation and reliable point correspondences.Firstly,less and similar texture regions of stereo images are determined by the segmentation of the right and left image using the texture features verifying and segmentation;Then,the disparity of reliable point could be obtained by SIFT features point matching.Secondly,the preliminary disparity could be obtained by SAD area-based matching.Finally,the image is processed according to the distribution of SIFT features matching point,disparity continuous constraint and minimum distance classifier.Meanwhile,the higher precision disparity map could be obtained by removing the smaller region via the blob filter.It can be drawn from the results of experiment that the proposed algorithm is effective,and could obtain quicker,accurate obstacle detection.

关 键 词：立体匹配 可信点 双目移动机器人 最小分类器 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]