Depth map stitching based on binocular vision

A depth image stitching method based on binocular vision is proposed, in which a prc-calibratcd binocular depth sensor is used to acquire two depth maps with certain overlapping areas through motion. These depth maps correspond to the pixel points of left-view images one by one. The feature extraction is performed on the left-view images and after matching, the homography matrix is calculated and obtained. Then the two depth maps are further stitched and the depth of these maps is corrected based on the homography matrix, and thus the final depth map stitching results are obtained. The simulation and experimental results show that, the proposed method can effectively expand the field of view of the binocular depth sensor and the obtained stitching depth map is basically same with the depth map acquired by a single sensor.