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发明授权
CN105530502B 根据立体相机拍摄的图像帧生成视差图的方法和装置 有权

根据立体相机拍摄的图像帧生成视差图的方法和装置
摘要：
本发明的实施例提供了一种根据立体相机拍摄的图像帧生成视差图的方法和装置。所述方法包括：生成第一图像帧的初始基准灰度直方图和初始参考灰度直方图；根据第二图像帧的历史信息生成第一基准图像的预定区域的目标基准灰度直方图和目标参考灰度直方图；计算从初始基准灰度直方图到目标基准灰度直方图的基准映射函数和从初始参考灰度直方图到目标参考灰度直方图的参考映射函数；对第一基准图像的预定区域执行基准映射函数以获得第一图像帧的增强基准图像，并且对第一参考图像的预定区域执行参考映射函数以获得第一图像帧的增强参考图像；以及根据第一图像帧的增强基准图像和增强参考图像，生成对应于第一图像帧的第一视差图。
摘要（英）：

A method and an apparatus for generating a disparity map based on image frames photographed by a stereo camera are disclosed. The method includes generating an initial standard grayscale histogram and an initial reference grayscale histogram based on a first image frame; generating a target standard grayscale histogram and a target reference grayscale histogram based on historical information of a second image frame; calculating a standard mapping function from the initial standard grayscale histogram to the target standard grayscale histogram and a reference mapping function from the initial reference grayscale histogram to the target reference grayscale histogram; performing the mapping functions to obtain an enhanced standard image and an enhanced reference image of the first image frame; and generating a first disparity map corresponding to the first image frame based on the enhanced standard image and the enhanced reference image.

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