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一种行星车视觉系统立体匹配算法
Stereo Matching Algorithm for Planetary Rover Vision System
查看参考文献12篇
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文摘
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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%。 |
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其他语种文摘
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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%. |
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来源
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计算机工程
,2012,38(3):159-162 【核心库】
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关键词
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行星车
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视觉导航
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立体匹配
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自适应权重
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Census变换
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地址
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中国科学院空间科学与应用研究中心, 北京, 100190
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语种
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中文 |
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文献类型
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研究性论文 |
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ISSN
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1000-3428 |
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学科
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自动化技术、计算机技术 |
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基金
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国家自然科学基金资助项目
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文献收藏号
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CSCD:4459744
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参考文献 共
12
共1页
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1.
Goldberg S. Stereo Vision and Rover Navigation Software for Planetary Exploration.
Proc. of IEEE Aerospace Conference,2002
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被引
1
次
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2.
王保丰. 一种月球车视觉系统的匹配算法.
航空学报,2008,29(1):117-122
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被引
1
次
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3.
Yang Qingxiong. Real-time Global Stereo Matching Using Hierarchical Belief Propagation.
Proc. of the British Machine Vision Conference,2006
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被引
1
次
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4.
Perri S. SAD-based Stereo Matching Circuit for FPGAs.
Proc. of the 13th IEEE International Conference on Electronics, Circuits and Systems,2006
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被引
1
次
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5.
Sang K H. Improved-quality Real-time Stereo Vision Processor.
Proc. of the 22nd International Conference on VLSI Design,2009
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被引
1
次
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6.
Hariyama M. VLSI Processor for Reliable Stereo Matching Based on Adaptive Window-size Selection.
Proc. of IEEE International Conference on Robotics and Automation,2001
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被引
1
次
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7.
Middlebury College.
Microsoft Stereo Matching Software,2010
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被引
1
次
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8.
Yoon K J. Adaptive Support-weight Approach for Correspondence Search.
IEEE Transactions on Pattern Analysis and Machine Intelligence,2006,28(4):650-656
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被引
161
次
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9.
Zabih R. Non-parametric Local Transforms for Computing Visual Correspondence.
Proc. of European Conference on Computer Vision,1994
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被引
1
次
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10.
Chen Yichun. Algorithm and Architecture of Disparity Estimation with Mini-census Adaptive Support Weight.
IEEE Transactions on Circuits and Systems for Video Technology,2010,20(6):792-805
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被引
1
次
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11.
Scharstein D. A Taxonomy and Evaluation of Dense Two-frame Stereo Correspondence Algorithms.
International Journal on Computer Vision,2002,47(3):7-42
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被引
413
次
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12.
Wang Zengfu. A Region Based Stereo Matching Algorithm Using Cooperative Optimization.
Proc. of Computer Vision and Pattern Recognition,2008
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被引
1
次
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