METHOD FOR ESTIMATING DISPARITY SEARCH RANGE APPLIED WITH MULTI-LEVEL DISPARITY IMAGE DIVISION AND DEVICE FOR MATCHING STEREO IMAGE BY USING SAME

摘要

The present invention relates to a method for estimating a disparity search range applied with multi-level disparity image division and a device for matching a stereo image by using the same. The method for estimating a disparity search range applied with multi-level disparity image division enables to reduce a calculation amount while improving a matching rate by analyzing a disparity histogram of a previous disparity image when matching stereos of continuative images so as to divide a corresponding disparity image into image blocks having various sizes, and estimating a disparity search range based on a disparity value having a pixel number equal to or greater than a predetermined threshold with respect to each image block so as to apply the estimated disparity search range to a stereo match of a next frame. The device for matching a stereo image by using the method for estimating a disparity search range applied with multi-level disparity image division comprises: a left camera and a right camera for providing a stereo image by photographing the same position at the same time; a stereo matching unit for outputting a disparity image with respect to a current stereo image by performing a matching process according to a correlation with respect to a corresponding image block on the basis of a disparity search range for each divided image block, which is estimated with respect to a previous disparity image from two images provided from the left camera and the right camera; and a disparity search range estimation unit for generating a disparity histogram consisting of a pixel number for each disparity value with respect to the disparity image output from the stereo matching unit, dividing the disparity image into multi-level blocks on the basis of a valid disparity value number that is obtained by masking a valid disparity value having a pixel number equal to or greater than a threshold in the disparity histogram, and generating a disparity search range including a valid disparity value for each divided image block to provide the same for the stereo matching unit.;COPYRIGHT KIPO 2017