Binocular active stereo matching based on multi-scale random forest

With the rapid development of 3D vision technology, the existing passive binocular cameras can no longer meet the practical needs of depth perception. Therefore, this paper proposes a binocular active stereo matching method based on multi-scale random forest. Firstly, a binocular active vision system consists of a near-infrared random speckle projector and a binocular camera is constructed, and the system was calibrated using Zhang's calibration method. Secondly, gamma image enhancement and image difference method are used for processing to reduce the impact of ambient light on the measurement results. Next, extract the points of interest and use the multi-scale random forest algorithm to match the window where the points of interest are located to generate a sparse structured light anchor disparity map globally. Finally, using the Census transforms as the matching cost, iterate continuously, refine the disparity and get a dense disparity map. The experimental results show that this system can achieve good depth perception accuracy and robustness under complex indoor lighting conditions.