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一种行星车视觉系统立体匹配算法 被引量：1

Stereo Matching Algorithm for Planetary Rover Vision System
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摘要 针对行星车视觉导航系统,提出一种立体匹配算法。使用Census变换得到一组二进制码流,通过色彩权重和距离权重完成权重计算,采用双通道的方法累加匹配代价。实验结果表明,该算法在时钟频率为100 MHz的情况下,每秒可处理2幅23帧左右的图像,平均误匹配率低于6%。 Aiming at the application of planetary rover vision system, this paper proposes a stereo matching algorithm. It uses Census transformation to get a group of binary code flow, gets through the colour weight and distance weight to complete weight calculating, and uses the method of double channel to accumulate the matching the price. Experimental results show that this algorithm can process 23 frames stereo images per second at 100 MHz, and the average error rate is lower than 6%.
作者 王怀超 顾晓东 陈晓敏
机构地区 中国科学院空间科学与应用研究中心 中国科学院研究生院
出处 《计算机工程》 CAS CSCD 2012年第3期159-162,共4页 Computer Engineering
基金 国家自然科学基金资助项目(60805030)
关键词 行星车 视觉导航 立体匹配 自适应权重 Census变换 planetary rover vision navigation stereo matching adaptive weight Census transformation
分类号 TP391.41 [自动化与计算机技术—计算机应用技术]
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参考文献12

  • 1Goldberg S, Maimone M, Matthies L. Stereo Vision and Rover Navigation Software for Planetary Exploration[C] //Proc. of IEEE Aerospace Conference. Northridge, USA: IEEE Press, 2002.
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二级参考文献3

共引文献5

同被引文献16

  • 1Lazaros N, Sirakoulis G C, Gasteratos A. Review of stereo vision algorithms: from software to hardware [J]. International Journal of Optomechatronics (S 1559-9612), 2008, 2(4): 435-462.
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  • 5Ambrosch K, Kubinger W. Accurate hardware-based stereo vision [J]. Computer Vision and Image Understanding (S1077-3142), 2010, 114(11): 1303-1316.
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  • 7Xu Y, Wang D, Feng T, et al. Stereo computation using radial adaptive windows [C]. Proceedings. 16th International Conference on Pattern Recognition, 2002. USA: IEEE, 2002, 3: 595-598.
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  • 9Yoon K J, Kweon I S. Adaptive support-weight approach for correspondence search [J]. IEEE Transactions on Pattern Analysis and Machine Intelligence (S0162-8828), 2006, 28(4): 650-656.
  • 10Motten A, Claesen L. A binary adaptable window SoC architecture for a stereo vision based depth field processor [C]. VLSI System on Chip Conference (VLSI-SoC), 2010 18th IEEE/IFIP. USA: IEEE, 2010: 25-30.

引证文献1

计算机工程
2012年 第3期

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