| 金字塔双层动态规划立体匹配算法 |
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| 引用本文： | 赵杰,于舒春,蔡鹤皋.金字塔双层动态规划立体匹配算法[J].控制与决策,2007,22(1):69-72. |
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| 作者姓名： | 赵杰 于舒春 蔡鹤皋 |
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| 作者单位： | 哈尔滨工业大学,机器人研究所,哈尔滨,150080 |
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| 基金项目： | 国家高技术研究发展计划项目（2001AA422250）. |
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| 摘 要： | 针对控制点修正的动态规划立体匹配算法存在控制点求取时阀长、实时性差的问题．提出一种金字塔双层动态规划立体匹配算法．采用金字塔算法求取低、商分辨率图像，然后分别在低、商分辨宰图像上求取候选控制点集和最终控制点集，并用最终控制点集修正商分辨率图像上的动态规划立体匹配．由干候选控制点集的求取在低分辨率图像上进行，算法用时大为减少．实验证明，此算法匹配率商、速度快．
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| 关 键 词： | 控制点 动态规划 立体匹配 视觉导航 |
| 文章编号： | 1001-0920（2007）01-0069-04 |
| 收稿时间： | 2005-10-11 |
| 修稿时间： | 2005-10-112005-12-05 |
Pyramid two-level dynamic programming stereo matching algorithm |
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| ZHAO Jie,YU Shu-chun,CAI He-gao.Pyramid two-level dynamic programming stereo matching algorithm[J].Control and Decision,2007,22(1):69-72. |
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| Authors: | ZHAO Jie YU Shu-chun CAI He-gao |
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| Affiliation: | Robot Research Institute, Harbin Institute of Technology, Harbin 150080, China |
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| Abstract: | To the problems of dynamic programming stereo matching algorithm modified by ground control points(GCPs),a pyramid two-level dynamic programming stereo matching algorithm is proposed.The low-resolution images and high-resolution images are gained by pyramid algorithm.Then,candidate GCPs and ultima GCPs are obtained from low-resolution and high-resolution images.Dynamic programming stereo matching algorithm in high-resolution images is directed by ultima GCPs.Total time of this algorithm is reduced because candidate GCPs are gained in low-resolution images.Experiments show that the algorithm has a high maching-rate and a fast speed. |
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| Keywords: | Ground control points(GCPs) Dynamic programming Stereo matching Vision-navigation |
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