The invention provides a real-time binocular stereo matching method and an automobile suspension control system based on the method. Comprising the following steps: acquiring multi-scale features of left and right views based on a feature extraction network, and representing the multi-scale features by a plurality of three-dimensional tensors, so as to construct three-fusion cost volumes (texture volume, correlation volume and mutual volume) based on a low-level feature map with 1/4 resolution for realizing cost regression; and then realizing cost regression through hourglass-shaped stacked 3D convolution in combination with feature maps of other levels, and finally performing parallax regression under the 1/4 resolution and the original resolution and performing supervised learning to obtain a parallax map under the original resolution. Based on the obtained disparity map and a parameter matrix of the binocular camera, a depth map of the road surface can be calculated, depth differences of front and back frames are compared, the change of the undulation degree of the road surface can be calculated by utilizing a geometrical relationship, and then the change is used as input to carry out hierarchical control on the suspension, so that the driving comfort is ensured.
本发明提供了一种实时双目立体匹配方法及基于方法的汽车悬架控制系统。包括:基于特征提取网络获取左右视图的多尺度特征,由若干三维张量表示,从而基于1/4分辨率的低层级特征图构建三融合成本体积(纹理体积、相关性体积、互体积)用于实现成本量回归,随后通过沙漏状的堆叠3D卷积结合着其他层级的特征图实现成本回归,最终在1/4分辨率和原始分辨率下进行视差回归并进行监督学习获得原始分辨率下的视差图。基于所得视差图和双目相机的参数矩阵,即可计算得到路面的深度图,再对比前后帧的深度差异,即可利用几何关系计算得到路面起伏度的变化,进而以此为输入进行悬架的分级控制,确保驾驶舒适性。
Real-time binocular stereo matching method and automotive suspension control system based on same
实时双目立体匹配方法及基于方法的汽车悬架控制系统
2025-03-25
Patent
Electronic Resource
Chinese
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