用多基线立体视觉系统恢复稠密深度图像

为有效地减少错误匹配，提高匹配精度并恢复稠密深度图像。利用多基线立体视觉恢复景物深度数据的冗余性，使用简单条纹模式投影光源标记景物，很好地解决了弱纹理区域或无纹理区域的对应性问题。通过对图像进行避部规范化处理，在外极线、唯一性和连续性约束条件下，使用应用域知识和统计模型，建立准确的匹配关系，实现三维景物高精度恢复。所恢复景物的高精度稠密深度图像，在１．５～３．５ｍ的距离范围内，深度值偏差小于２ｍｍ

Dense Depth Image Recovery Using Multi-Baseline Stereo Vision System

To eliminate fault correspondence, improve matching precision and recover dense depth image with high accuracy, a stereo matching method using multiple stereo pairs with various baselines was presented to obtain precise scene distance value without suffering from ambiguity. The constraints of epipolar geometry, uniqueness, smoothness and local normalizing process were imposed on the stereo images for uniquely finding corresponding points. The result shows that the errors of depth data are, on the average, less than 2 mm at distance between 1 5 m to 3 5 m away from the cameras.