Real-time binocular visual localization system based on the improved BGNet stereo matching framework

Binocular vision technology is widely used to acquire three-dimensional information of images because of its low cost. In recent years, the use of deep learning for stereo matching has shown promising results in improving the measurement stability of binocular vision systems, but the real-time performance in high-precision networks is typically poor. Therefore, this study constructed a deep-learning-based stereo matching binocular vision system based on the BGLGA-Net, which combines the advantages of past networks. Experiments showed that the ability to detect the edges of foreground objects was enhanced. The network was used to build a system on the Xavier NX. The measurement accuracy and stability were better than those of traditional algorithms.