公开(公告)号：US20190301861A1

公开(公告)日：2019-10-03

申请号：US16290798

申请日：2019-03-01

Applicant: TuSimple

Inventor： Naiyan WANG ,  Yuanqin LU

IPC: G01C3/04 ,  G03B13/20 ,  G06T7/80 ,  G01C11/16

Abstract: The present disclosure provides a method and an apparatus for binocular ranging, capable of achieving an improved accuracy of binocular ranging. The method includes: extracting features from a left image and a right image to obtain a left feature image and a right feature image; selecting a standard feature image and obtaining a cost volume of the standard feature image by applying a correlation calculation to the left feature image and the right feature image using a block matching algorithm; obtaining a confidence volume by normalizing computational costs of all disparity values in a disparity dimension for each pixel point in the cost volume; obtaining a confidence map by selecting a maximum value from confidence levels of all the disparity values in the disparity dimension for each pixel point in the confidence volume; obtaining a mask map by mapping each pixel point having a confidence level higher than a predetermined threshold in the confidence map to 1 and mapping each pixel point having a confidence level lower than or equal to the threshold in the confidence map to 0; obtaining a disparity map by calculating an argmax value for the confidence levels of all disparity values in the disparity dimension for each pixel point in the confidence volume; obtaining a target disparity map by multiplying the mask map with the disparity map; and estimating a distance based on the target disparity map.