立体匹配中的视差图和视差图有什么区别? [英] What is the difference between a disparity map and a disparity image in stereo matching?

问题描述

我是立体匹配的新手.我无法理解差异的概念.什么是视差图和视差图，它们有什么区别?

I am new to stereo matching. I couldn't understand the concept of disparity. What are a disparity map and disparity image, and what is the difference between them?

推荐答案

Disparity

视差是指立体对的左右图像中两个对应点之间的距离.如果您查看下图，您会看到标记的点 X(忽略 X1、X2 和 X3).沿着从 X 到 OL 的虚线，您可以看到在 XL 处与左侧平面的交点.同样的原理也适用于右侧的图像平面.

Disparity refers to the distance between two corresponding points in the left and right image of a stereo pair. If you look at the image below you see a labelled point X (ignore X1, X2 & X3). By following the dotted line from X to OL you see the intersection point with the left hand plane at XL. The same principal applies with the right-hand image plane.

如果 X 投影到左帧 XL = (u,v) 和右帧 XR = (p,q) 中的一个点，您可以找到该点的视差作为 (u,v) 和 (p,q).显然，这个过程涉及在左侧帧中选择一个点，然后在右侧图像中找到它的匹配点(通常称为对应点)；在不犯很多错误的情况下，这通常是一项特别困难的任务.

If X projects to a point in the left frame XL = (u,v) and to the right frame at XR = (p,q) you can find the disparity for this point as the magnitude of the vector between (u,v) and (p,q). Obviously this process involves choosing a point in the left hand frame and then finding its match (often called the corresponding point) in the right hand image; often this is a particularly difficult task to do without making a lot of mistakes.

视差图/图像

如果您要对左手图像中的每个像素执行此匹配过程，在右手帧中找到它的匹配项并计算它们之间的距离，您最终会得到一个每个像素都包含距离/视差值的图像对于左侧图像中的那个像素.

If you were to perform this matching process for every pixel in the left hand image, finding its match in the right hand frame and computing the distance between them you would end up with an image where every pixel contained the distance/disparity value for that pixel in the left image.

示例

给定一张左图

还有一张正确的图片

通过将左侧图像中的每个像素与右侧图像中的对应像素进行匹配并计算像素值之间的距离(差异)，您最终应该得到如下所示的图像:

By matching every pixel in the left hand image with its corresponding pixel in the right hand image and computing the distance between the pixel values (the disparities) you should end up with images that look like this:

此底部图像称为视差图像/地图.rectification 是执行立体匹配时需要阅读的一个有用主题.这将使左右图像中的像素匹配过程大大加快，因为搜索将是水平的.

This bottom image is known as a disparity image/map. A useful topic to read about when performing stereo matching is rectification. This will make the process of matching pixels in the left and right image considerably faster as the search will be horizontal.

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