公开(公告)号：US11350073B2

公开(公告)日：2022-05-31

申请号：US17283119

申请日：2020-03-05

Applicant: DALIAN UNIVERSITY OF TECHNOLOGY

Inventor： Xin Fan ,  Risheng Liu ,  Zhuoxiao Li ,  Wei Zhong ,  Zhongxuan Luo

IPC: H04N13/156 ,  H04N13/239 ,  H04N13/246 ,  G06T7/11 ,  G06T7/80 ,  H04N13/15

Abstract: The present invention discloses a disparity image stitching and visualization method based on multiple pairs of binocular cameras. A calibration algorithm is used to solve the positional relationship between binocular cameras, and the prior information is used to solve a homography matrix between images; internal parameters and external parameters of the cameras are used to perform camera coordinate system transformation of depth images; the graph cut algorithm has high time complexity and depends on the number of nodes in a graph; the present invention divides the images into layers, and solutions are obtained layer by layer and iterated; then the homography matrix is used to perform image coordinate system transformation of the depth images, and a stitching seam is synthesized to realize seamless panoramic depth image stitching; and finally, depth information of a disparity image is superimposed on a visible light image.