METHOD AND APPARATUS FOR GENERATING DISPARITY MAP BASED ON IMAGE FRAMES PHOTOGRAPHED BY STEREO CAMERA

摘要

A method and an apparatus for generating a disparity map based on image frames photographed by a stereo camera are disclosed. The method includes generating an initial standard grayscale histogram and an initial reference grayscale histogram based on a first image frame; generating a target standard grayscale histogram and a target reference grayscale histogram based on historical information of a second image frame; calculating a standard mapping function from the initial standard grayscale histogram to the target standard grayscale histogram and a reference mapping function from the initial reference grayscale histogram to the target reference grayscale histogram; performing the mapping functions to obtain an enhanced standard image and an enhanced reference image of the first image frame; and generating a first disparity map corresponding to the first image frame based on the enhanced standard image and the enhanced reference image.