一种基于曼巴代价体的立体匹配方法

• Format: Patent
• Language: Chinese
• Published: 17.06.2025
• Subjects: CALCULATING; COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS; COMPUTING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS

本申请公开一种基于曼巴代价体的立体匹配方法，包括：获取待处理的左视图像和右视图像，左视图像和右视图像为同一物体在不同视角的图像；将左视图像和右视图像输入改进的立体匹配网络，以获得目标预测视差图；改进的立体匹配网络至少包括依次串联的特征提取模块、代价体构建模块、聚合模块和视差回归模块，且特征提取模块还与视差回归模块串联；代价体构建模块包括依次串联的初始代价体构建模块、残差视觉曼巴层、分别与残差视觉曼巴层输出串联的3D注意力模块和归一化模块、与3D注意力模块输出和归一化模块输出串联的第一融合模块、与第一融合模块串联的第二融合模块。本申请通过引入残差视觉曼巴层和3D注意力模块，提高匹配精度和鲁棒性。 The invention discloses a stereo matching method based on a Mangbar cost volume, and the method comprises the steps: obtaining a to-be-processed left-view image and a to-be-processed right-view image, the left-view image and the right-view image being images of the same object at different view angles; inputting the left view image and the right view image into an improved stereo matching network to obtain a target prediction disparity map; the improved stereo matching network at least comprises a feature extraction module, a cost body construction module, an aggregation module and a parallax regression module which are sequentially connected in series, and the feature extraction module is further connected with t