Journal of South China University of Technology (Natural Science Edition) ›› 2020, Vol. 48 ›› Issue (8): 22-28.doi: 10.12141/j.issn.1000-565X.190656

• Electronics, Communication & Automation Technology • Previous Articles     Next Articles

Laser Speckle－Based Real－Time Stereo Matching Algorithm and Its Application

PAN Chuang LIU Yiqi HUANG Daoping   

  1. School of Automation Science and Engineering，South China University of Technology，Guangzhou 510640，Guangdong，China
  • Received:2019-09-28 Revised:2020-03-25 Online:2020-08-25 Published:2020-08-01
  • Contact: 潘创(1988-)，男，博士生，主要从事图像处理、立体视觉研究。 E-mail:pan. chuang@mail. scut. edu. cn
  • About author:潘创(1988-)，男，博士生，主要从事图像处理、立体视觉研究。
  • Supported by:
    Supported by the National Natural Science Foundation of China (61873096，61673181)

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Abstract: Stereo matching is the key and challenging problem of binocular stereo vision and it restricts the applica-tion of binocular stereo vision． Noises，obstacles and textureless region reduce the matching accuracy． In this pa-per，a laser speckle based stereo matching algorithm was proposed to solve these problems． Based on the gradient orientation of each pixel，a new matching cost function was proposed． Then semi-global matching and guided filter were cascaded to aggregate matching cost． This method can meet the real-time requirements and improve the adap-tive capacity of algorithm for slant plane． Finally，a confidence detection method was proposed to refine the disparity in obstacle regions and the edges regions based on the mean value and minimum value of the aggregated matching cost． Its application in logistics industry shows that the proposed algorithm can be used to measure the size of pac-kage and the accuracy can reach to ±5%．

Key words: laser speckle, guided filter, semi-global matching, confidence detection