公开(公告)号：US12015755B2

公开(公告)日：2024-06-18

申请号：US17656049

申请日：2022-03-23

申请人： Korea Advanced Institute of Science and Technology

发明人： Min Hyuk Kim ,  Meuleman Andreas ,  Hyeonjoong Jang

IPC分类号： H04N13/128 ,  H04N13/111 ,  H04N13/15 ,  H04N13/243 ,  H04N13/293 ,  H04N13/00

CPC分类号： H04N13/128 ,  H04N13/111 ,  H04N13/15 ,  H04N13/243 ,  H04N13/293 ,  H04N2013/0081

摘要： Provided is a real-time omnidirectional stereo matching method in a camera system including a first pair of fisheye cameras including first and second fisheye cameras provided to perform shooting in opposite directions and a second pair of fisheye cameras including third and fourth fisheye cameras provided to perform shooting in opposite directions and in which the first pair of fisheye cameras and the second pair of fisheye cameras are vertically provided, including receiving fisheye images of a subject captured through the first to the fourth fisheye cameras; selecting one fisheye camera from among fisheye cameras for each pixel of a preset reference fisheye image among the fisheye images using a sweep volume for preset distance candidates; generating a distance map for all pixels using the reference fisheye image and a fisheye image of the one fisheye camera; and performing real-time stereo matching on the fisheye images using the distance map.