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1、AbstractABSTRACTStereovisionhasalwaysbeenahotresearchtopicinthefieldofcomputervision.Stereovisionusingtwoormorecamerasshootingthesamescene,itrestorestheoriginalsceneofthethree-dimensionalinformationfromthetwo-dimensionalimageinformationaccordingtothegeometric
2、principle.Astereovisionsystemconsistsofsixparts,imageacquisition,cameracalibration,imagepreprocessing,stereomatching,3Dreconstructionandpost-processing.Stereomatchingisimportantandhasfar-reachingsignificanceinstereovision.Binocularstereomatchingisbasedonthepr
3、incipleofhumanvision,itisobservedfromtwodifferentperspectivesofthesamevisualtarget.Binocularstereomatchingmatchestheperceivedimage.Binocularstereomatchingmatchestheperceivedimage.Binocularstereomatchingismainlyusedinthefieldofrobotnavigation,parameterdetectio
4、nofmicrooperatingsystem,three-dimensionalmeasurementandvirtualreality.Bycomparingtheaccuracyandtheprocessingspeed,thearticlechoosesthealgorithmbasedonCensusTransformasthestereomatchingalgorithm.Thisalgorithmhasgoodrobustness,lowcomputationalcomplexityanditise
5、asytoimplementinthehardware.ThearticleusesMatlabasthesimulationplatform.Inordertoimprovetherobustnessandaccuracyofstereomatchingalgorithm，thisarticleproposedastereomatchingalgorithmbasedonimprovedCensustransform.Firstly,thegrayvalueofcentralpixelisreplacedbyt
6、heaveragevalueofsub-windowofminimumvariance,whichovercomesthedependenceofneighborhoodpixelsonthecenterpixel;secondly,theadaptivesupportweightsisusedintheCensustransform,andtheaccuracyofstereomatchingisimprovedbyincreasingtheinformationofpixels.Incostsaggregat
7、ion,theadaptivesupportweightsisusedagain,accordingtoepipolarconstraint,thedisparityofminimumcostisobtainedbythemethodofWTA,whichisthedisparityofmatchingpoint.Thedisparityofinitialdisparitymapisenhancedbymeansofleft-rightchekingandSub-pixelEnhancement.Atthelas
8、t,theproposedalgorithmistestedbyusingthestereomatchingimagesoftheIIAbstractMiddleburywebsite,thenitiscomparedwiththethecurrentothergoodalgorithmsbyexperimentalresultsandisanalyzedinrobust
