公开(公告)号：US20240331173A1

公开(公告)日：2024-10-03

申请号：US18603100

申请日：2024-03-12

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： BAIYU PAN ,  Jianxin Pang

IPC: G06T7/50 ,  G06V10/77 ,  G06V10/82

CPC classification number: G06T7/50 ,  G06V10/7715 ,  G06V10/82 ,  G06T2207/20228

Abstract: A method for binocular depth estimation is provided, including: obtaining binocular images and performing feature extraction on the binocular images to obtain left and right feature mappings; performing disparity construction by using the left and right feature mappings to obtain a disparity cost volume with a reduced dimension; performing attention feature learning on the disparity cost volume to obtain an attention feature vector and performing feature weighting on the disparity cost volume by using the attention feature vector to obtain a weighted cost volume; performing disparity regression on the weighted cost volume based on a two-dimensional convolution to obtain a prediction disparity map; and performing disparity depth conversion on the prediction disparity map to obtain a depth map of the binocular images.